{-# LANGUAGE ExistentialQuantification #-} {-# OPTIONS_GHC -fno-warn-name-shadowing #-} {-| This is the core module of Elerea, which contains the signal implementation and the primitive constructors. The basic idea is to create a dataflow network whose structure closely resembles the user's definitions by turning each combinator into a mutable variable (an 'IORef'). In other words, each signal is represented by a variable. Such a variable contains information about the operation to perform and (depending on the operation) references to other signals. For instance, a pointwise function application created by the '<*>' operator contains an 'SNA' node, which holds two references: one to the function signal and another to the argument signal. In order to have a pure(-looking) applicative interface, the library relies on 'unsafePerformIO' to create the references on demand. In contrast, the execution of the network is explicitly marked as an IO operation. The core library exposes a single function to animate the network called 'superstep', which takes a signal and a time interval, and mutates all the variables the signal depends on. It is supposed to be called repeatedly in a loop that also takes care of user input. To ensure consistency, a superstep has two phases: evaluation and finalisation. During evaluation, each signal affected is sampled at the current point of time ('sample'), advanced by the desired time ('advance'), and both of these pieces of data are stored in its reference. If the value of a signal is requested multiple times, the sample is simply reused, and no further aging is performed. After successfully sampling the top-level signal, the finalisation process throws away the intermediate samples and marks the aged signals as the current ones, ready to be sampled again. Evaluation is done by the 'signalValue' function, while finalisation is done by 'commit'. Since these functions are invoked recursively on a data structure with existential types, their types also need to be explicity quantified. As a bonus, applicative nodes are automatically collapsed into lifted functions of up to five arguments. This optimisation significantly reduces the number of nodes in the network. -} module FRP.Elerea.Internal where import Control.Applicative import Control.Monad import Data.IORef import System.IO.Unsafe -- * Implementation -- ** Some type synonyms {-| Time is continuous. Nothing fancy. -} type Time = Double type DTime = Double {-| Sinks are used when feeding input into peripheral-bound signals. -} type Sink a = a -> IO () -- ** The data structures behind signals {-| A signal is represented as a /transactional/ structural node. -} newtype Signal a = S (IORef (SignalTrans a)) {-| A node can have two states: stable (freshly created or finalised) or mutating (in the process of aging). -} data SignalTrans a -- | @Cur s@ is simply the signal @s@ = Cur (SignalNode a) -- | @Tra x s@ is an already sampled signal, where @x@ is the -- current value and @s@ is the new version of the signal | Tra a (SignalNode a) {-| The possible structures of a node are defined by the 'SignalNode' type. Note that the @SNLx@ nodes are only needed to optimise applicatives, they can all be expressed in terms of @SNK@ and @SNA@. -} data SignalNode a -- | @SNK x@: constantly @x@ = SNK a -- | @SNF f@: time function @f@ (absolute time) | SNF (Time -> a) -- | @SNS x t@: stateful generator, where @x@ is current state and -- @t@ is the update function | SNS a (DTime -> a -> a) -- | @SNT s x t@: stateful transfer function, which also depends -- on an input signal @s@ | forall t . SNT (Signal t) a (DTime -> t -> a -> a) -- | @SNA sf sx@: pointwise function application | forall t . SNA (Signal (t -> a)) (Signal t) -- | @SNE s e ss@: latcher that starts out as @s@ and becomes the -- current value of @ss@ at every moment when @e@ is true | SNE (Signal a) (Signal Bool) (Signal (Signal a)) -- | @SNR r@: opaque reference to connect peripherals | SNR (IORef a) -- | @SNL1 f@: @fmap f@ | forall t . SNL1 (t -> a) (Signal t) -- | @SNL2 f@: @liftA2 f@ | forall t1 t2 . SNL2 (t1 -> t2 -> a) (Signal t1) (Signal t2) -- | @SNL3 f@: @liftA3 f@ | forall t1 t2 t3 . SNL3 (t1 -> t2 -> t3 -> a) (Signal t1) (Signal t2) (Signal t3) -- | @SNL4 f@: @liftA4 f@ | forall t1 t2 t3 t4 . SNL4 (t1 -> t2 -> t3 -> t4 -> a) (Signal t1) (Signal t2) (Signal t3) (Signal t4) -- | @SNL5 f@: @liftA5 f@ | forall t1 t2 t3 t4 t5 . SNL5 (t1 -> t2 -> t3 -> t4 -> t5 -> a) (Signal t1) (Signal t2) (Signal t3) (Signal t4) (Signal t5) {-| You can uncomment the verbose version of this function to see the applicative optimisations in action. -} debugLog :: String -> IO a -> IO a --debugLog s io = putStrLn s >> io debugLog _ io = io instance Functor Signal where fmap = (<*>) . pure {-| The 'Applicative' instance with run-time optimisation. The '<*>' operator tries to move all the pure parts to its left side in order to flatten the structure, hence cutting down on book-keeping costs. Since applicatives are used with pure functions and lifted values most of the time, one can gain a lot by merging these nodes. -} instance Applicative Signal where -- | A constant signal pure = createSignal . SNK -- | Point-wise application of a function and a data signal (like @ZipList@) f@(S rf) <*> x@(S rx) = unsafePerformIO $ do -- General fall-back case c <- newIORef (Cur (SNA f x)) let opt s = writeIORef c (Cur s) -- Optimisations might go haywire in the presence of loops, -- so we need to prepare to meeting undefined references by -- wrapping reads into exception handlers. flip catch (const (return ())) $ do Cur nf <- readIORef rf merged <- flip catch (const (return False)) $ do -- Merging constant branches from the two sides Cur nx <- readIORef rx case (nf,nx) of (SNK g,SNK y) -> debugLog "merge_00" $ opt (SNK (g y)) (SNK g,SNL1 h y1) -> debugLog "merge_01" $ opt (SNL1 (g.h) y1) (SNK g,SNL2 h y1 y2) -> debugLog "merge_02" $ opt (SNL2 (\y1 y2 -> g (h y1 y2)) y1 y2) (SNK g,SNL3 h y1 y2 y3) -> debugLog "merge_03" $ opt (SNL3 (\y1 y2 y3 -> g (h y1 y2 y3)) y1 y2 y3) (SNK g,SNL4 h y1 y2 y3 y4) -> debugLog "merge_04" $ opt (SNL4 (\y1 y2 y3 y4 -> g (h y1 y2 y3 y4)) y1 y2 y3 y4) (SNK g,SNL5 h y1 y2 y3 y4 y5) -> debugLog "merge_05" $ opt (SNL5 (\y1 y2 y3 y4 y5 -> g (h y1 y2 y3 y4 y5)) y1 y2 y3 y4 y5) (SNK g,_) -> debugLog "lift_1x" $ opt (SNL1 g x) (SNL1 g x1,SNK y) -> debugLog "merge_10" $ opt (SNL1 (\x1 -> g x1 y) x1) (SNL1 g x1,SNL1 h y1) -> debugLog "merge_11" $ opt (SNL2 (\x1 y1 -> g x1 (h y1)) x1 y1) (SNL1 g x1,SNL2 h y1 y2) -> debugLog "merge_12" $ opt (SNL3 (\x1 y1 y2 -> g x1 (h y1 y2)) x1 y1 y2) (SNL1 g x1,SNL3 h y1 y2 y3) -> debugLog "merge_13" $ opt (SNL4 (\x1 y1 y2 y3 -> g x1 (h y1 y2 y3)) x1 y1 y2 y3) (SNL1 g x1,SNL4 h y1 y2 y3 y4) -> debugLog "merge_14" $ opt (SNL5 (\x1 y1 y2 y3 y4 -> g x1 (h y1 y2 y3 y4)) x1 y1 y2 y3 y4) (SNL1 g x1,_) -> debugLog "lift_2x" $ opt (SNL2 g x1 x) (SNL2 g x1 x2,SNK y) -> debugLog "merge_20" $ opt (SNL2 (\x1 x2 -> g x1 x2 y) x1 x2) (SNL2 g x1 x2,SNL1 h y1) -> debugLog "merge_21" $ opt (SNL3 (\x1 x2 y1 -> g x1 x2 (h y1)) x1 x2 y1) (SNL2 g x1 x2,SNL2 h y1 y2) -> debugLog "merge_22" $ opt (SNL4 (\x1 x2 y1 y2 -> g x1 x2 (h y1 y2)) x1 x2 y1 y2) (SNL2 g x1 x2,SNL3 h y1 y2 y3) -> debugLog "merge_23" $ opt (SNL5 (\x1 x2 y1 y2 y3 -> g x1 x2 (h y1 y2 y3)) x1 x2 y1 y2 y3) (SNL2 g x1 x2,_) -> debugLog "lift_3x" $ opt (SNL3 g x1 x2 x) (SNL3 g x1 x2 x3,SNK y) -> debugLog "merge_30" $ opt (SNL3 (\x1 x2 x3 -> g x1 x2 x3 y) x1 x2 x3) (SNL3 g x1 x2 x3,SNL1 h y1) -> debugLog "merge_31" $ opt (SNL4 (\x1 x2 x3 y1 -> g x1 x2 x3 (h y1)) x1 x2 x3 y1) (SNL3 g x1 x2 x3,SNL2 h y1 y2) -> debugLog "merge_32" $ opt (SNL5 (\x1 x2 x3 y1 y2 -> g x1 x2 x3 (h y1 y2)) x1 x2 x3 y1 y2) (SNL3 g x1 x2 x3,_) -> debugLog "lift_4x" $ opt (SNL4 g x1 x2 x3 x) (SNL4 g x1 x2 x3 x4,SNK y) -> debugLog "merge_40" $ opt (SNL4 (\x1 x2 x3 x4 -> g x1 x2 x3 x4 y) x1 x2 x3 x4) (SNL4 g x1 x2 x3 x4,SNL1 h y1) -> debugLog "merge_41" $ opt (SNL5 (\x1 x2 x3 x4 y1 -> g x1 x2 x3 x4 (h y1)) x1 x2 x3 x4 y1) (SNL4 g x1 x2 x3 x4,_) -> debugLog "lift_5x" $ opt (SNL5 g x1 x2 x3 x4 x) (SNL5 g x1 x2 x3 x4 x5,SNK y) -> debugLog "merge_50" $ opt (SNL5 (\x1 x2 x3 x4 x5 -> g x1 x2 x3 x4 x5 y) x1 x2 x3 x4 x5) _ -> return () return True -- Lifting into higher arity not knowing the argument when (not merged) $ case nf of SNK g -> debugLog "lift_1" $ opt (SNL1 g x) SNL1 g x1 -> debugLog "lift_2" $ opt (SNL2 g x1 x) SNL2 g x1 x2 -> debugLog "lift_3" $ opt (SNL3 g x1 x2 x) SNL3 g x1 x2 x3 -> debugLog "lift_4" $ opt (SNL4 g x1 x2 x3 x) SNL4 g x1 x2 x3 x4 -> debugLog "lift_5" $ opt (SNL5 g x1 x2 x3 x4 x) _ -> return () -- The final version return (S c) {-| The @Show@ instance is only defined for the sake of 'Num'... -} instance Show (Signal a) where showsPrec _ _ s = "<SIGNAL>" ++ s {-| The equality test checks whether to signals are physically the same. -} instance Eq (Signal a) where S s1 == S s2 = s1 == s2 instance Num t => Num (Signal t) where (+) = liftA2 (+) (-) = liftA2 (-) (*) = liftA2 (*) signum = fmap signum abs = fmap abs negate = fmap negate fromInteger = pure . fromInteger instance Fractional t => Fractional (Signal t) where (/) = liftA2 (/) recip = fmap recip fromRational = pure . fromRational -- ** Internal functions to run the network {-| This function is really just a shorthand to create a reference to a given node. -} createSignal :: SignalNode a -> Signal a createSignal = S . unsafePerformIO . newIORef . Cur {-| Sampling and aging the signal and all of its dependencies, at the same time. We don't need the aged signal in the current superstep, only the current value, so we sample before propagating the changes, which might require the fresh sample because of recursive definitions. -} signalValue :: forall a . Signal a -> DTime -> IO a signalValue (S r) dt = do t <- readIORef r case t of Cur s -> do -- TODO: advance can be evaluated in a separate -- thread, since we don't need its result right away, -- only in the next superstep. v <- sample s dt -- We memorise the sample to handle loops nicely. -- The undefined future signal cannot bite us, -- because we don't need it during the evaluation -- phase. writeIORef r (Tra v undefined) s' <- advance s dt writeIORef r (Tra v s') return v Tra v _ -> return v {-| Finalising the aged signals for the next round. -} commit :: forall a . Signal a -> IO () commit (S s) = do t <- readIORef s case t of Tra _ s' -> do writeIORef s (Cur s') -- TODO: branching can be trivially parallelised case s' of SNT s _ _ -> commit s SNA sf sx -> commit sf >> commit sx SNL1 _ s -> commit s SNL2 _ s1 s2 -> commit s1 >> commit s2 SNL3 _ s1 s2 s3 -> commit s1 >> commit s2 >> commit s3 SNL4 _ s1 s2 s3 s4 -> commit s1 >> commit s2 >> commit s3 >> commit s4 SNL5 _ s1 s2 s3 s4 s5 -> commit s1 >> commit s2 >> commit s3 >> commit s4 >> commit s5 SNE s e ss -> commit s >> commit e >> commit ss _ -> return () _ -> return () {-| Aging the signal. Stateful signals have their state forced to prevent building up big thunks, and the latcher also does its job here. The other nodes are structurally static. -} advance :: SignalNode a -> DTime -> IO (SignalNode a) advance (SNS x f) dt = x `seq` return (SNS (f dt x) f) advance (SNT s x f) dt = x `seq` do t <- signalValue s dt return (SNT s (f dt t x) f) advance sw@(SNE _ e ss) dt = do b <- signalValue e dt s' <- signalValue ss dt if b then return (SNE s' e ss) else return sw advance s _ = return s {-| Sampling the signal at the current moment. This is where static nodes propagate changes to those they depend on. Note the latcher rule ('SNE'): the signal is sampled before latching takes place, therefore even if the change is instantaneous, its effect cannot be observed at the moment of latching. This is needed to prevent dependency loops and make recursive definitions involving latching possible. The stateful signals 'SNS' and 'SNT' are similar, although it is only the transfer function where it matters that the input signal cannot affect the current output, only the next one. -} sample :: SignalNode a -> DTime -> IO a sample (SNK x) _ = return x sample (SNF f) _ = f <$> readIORef timeRef sample (SNS x _) _ = return x sample (SNT _ x _) _ = return x sample (SNA sf sx) dt = signalValue sf dt <*> signalValue sx dt sample (SNE s _ _) dt = signalValue s dt sample (SNR r) _ = readIORef r sample (SNL1 f s) dt = f <$> signalValue s dt sample (SNL2 f s1 s2) dt = liftM2 f (signalValue s1 dt) (signalValue s2 dt) sample (SNL3 f s1 s2 s3) dt = liftM3 f (signalValue s1 dt) (signalValue s2 dt) (signalValue s3 dt) sample (SNL4 f s1 s2 s3 s4) dt = liftM4 f (signalValue s1 dt) (signalValue s2 dt) (signalValue s3 dt) (signalValue s4 dt) sample (SNL5 f s1 s2 s3 s4 s5) dt = liftM5 f (signalValue s1 dt) (signalValue s2 dt) (signalValue s3 dt) (signalValue s4 dt) (signalValue s5 dt) {-| The actual variable that keeps track of global time. -} {-# NOINLINE timeRef #-} timeRef :: IORef Time timeRef = unsafePerformIO (newIORef 0) -- ** Userland primitives {-| Advancing the whole network that the given signal depends on by the amount of time given in the second argument. Note that the shared 'time' signal is also advanced, so this function should only be used for sampling the top level. -} superstep :: Signal a -- ^ the top-level signal -> DTime -- ^ the amount of time to advance -> IO a -- ^ the value of the signal before the update superstep world dt = do snapshot <- signalValue world dt commit world t <- readIORef timeRef let t' = t+dt writeIORef timeRef $! t' return snapshot {-| The global time. -} {-# NOINLINE time #-} time :: Signal Time time = createSignal (SNR timeRef) {-| A pure time function. -} stateless :: (Time -> a) -- ^ the function to wrap -> Signal a stateless = createSignal . SNF {-| A pure stateful signal. -} stateful :: a -- ^ initial state -> (DTime -> a -> a) -- ^ state transformation -> Signal a stateful x0 f = createSignal (SNS x0 f) {-| A stateful transfer function. The current input can only affect the next output, i.e. there is an implicit delay. -} transfer :: a -- ^ initial state -> (DTime -> t -> a -> a) -- ^ state updater function -> Signal t -- ^ input signal -> Signal a transfer x0 f s = createSignal (SNT s x0 f) {-| Reactive signal that starts out as @s@ and can change its behaviour to the one supplied in @ss@ whenever @e@ is true. The change can only be observed in the next instant. -} latcher :: Signal a -- ^ @s@: initial behaviour -> Signal Bool -- ^ @e@: latch control signal -> Signal (Signal a) -- ^ @ss@: signal of potential future behaviours -> Signal a latcher s e ss = createSignal (SNE s e ss) {-| A signal that can be directly fed through the sink function returned. This can be used to attach the network to the outer world. -} external :: a -- ^ initial value -> IO (Signal a, Sink a) -- ^ the signal and an IO function to feed it external x0 = do ref <- newIORef x0 snr <- newIORef (Cur (SNR ref)) return (S snr,writeIORef ref)