Copilot.FRPSketch.Internals

Documentation

type Behavior t = Stream t

A value that changes over time.

This is implemented as a Stream in the Copilot DSL. Copilot provides many operations on streams, for example && to combine two streams of Bools.

For documentation on using the Copilot DSL, see https://copilot-language.github.io/

data TypedBehavior p t

A Behavior with an additional phantom type p.

The Compilot DSL only lets a Stream contain basic C types, a limitation that Behavior also has. When more type safely is needed, this can be used.

Constructors

TypedBehavior (Behavior t)

Instances

Output o (Event p (Stream v)) => Output o (TypedBehavior p v)

Defined in Copilot.FRPSketch.Internals

Methods

(=:) :: o -> TypedBehavior p v -> GenSketch pinid ()

Typed a => IfThenElse (TypedBehavior p) a

Defined in Copilot.FRPSketch

Methods

ifThenElse :: Behavior Bool -> TypedBehavior p a -> TypedBehavior p a -> TypedBehavior p a

IsBehavior (TypedBehavior p v)

Defined in Copilot.FRPSketch.Internals

Methods

(@:) :: TypedBehavior p v -> Behavior Bool -> BehaviorToEvent (TypedBehavior p v)

type BehaviorToEvent (TypedBehavior p v)

Defined in Copilot.FRPSketch.Internals

type BehaviorToEvent (TypedBehavior p v) = Event p (Stream v)

data Event p v

A discrete event, that occurs at particular points in time.

Constructors

Event v (Stream Bool)

newtype GenSketch pinid t

A sketch, implemented using Copilot.

It's best to think of the Sketch as a description of the state of the board at any point in time.

Under the hood, the Sketch is run in a loop. On each iteration, it first reads inputs and then updates outputs as needed.

While it is a monad, a Sketch's outputs are not updated in any particular order, because Copilot does not guarantee any order.

This is a generalized Sketch that can operate on any type of pinid.

Constructors

Sketch (WriterT [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] (State UniqueIds) t)

Instances

MonadState UniqueIds (GenSketch pinid)

Defined in Copilot.FRPSketch.Internals

Methods

get :: GenSketch pinid UniqueIds

put :: UniqueIds -> GenSketch pinid ()

state :: (UniqueIds -> (a, UniqueIds)) -> GenSketch pinid a

Monad (GenSketch pinid)

Defined in Copilot.FRPSketch.Internals

Methods

(>>=) :: GenSketch pinid a -> (a -> GenSketch pinid b) -> GenSketch pinid b

(>>) :: GenSketch pinid a -> GenSketch pinid b -> GenSketch pinid b

return :: a -> GenSketch pinid a

Functor (GenSketch pinid)

Defined in Copilot.FRPSketch.Internals

Methods

fmap :: (a -> b) -> GenSketch pinid a -> GenSketch pinid b

(<$) :: a -> GenSketch pinid b -> GenSketch pinid a

Applicative (GenSketch pinid)

Defined in Copilot.FRPSketch.Internals

Methods

pure :: a -> GenSketch pinid a

(<*>) :: GenSketch pinid (a -> b) -> GenSketch pinid a -> GenSketch pinid b

liftA2 :: (a -> b -> c) -> GenSketch pinid a -> GenSketch pinid b -> GenSketch pinid c

(*>) :: GenSketch pinid a -> GenSketch pinid b -> GenSketch pinid b

(<*) :: GenSketch pinid a -> GenSketch pinid b -> GenSketch pinid a

Ord pinid => IfThenElse (GenSketch pinid) ()

Defined in Copilot.FRPSketch

Methods

ifThenElse :: Behavior Bool -> GenSketch pinid () -> GenSketch pinid () -> GenSketch pinid ()

MonadWriter [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] (GenSketch pinid)

Defined in Copilot.FRPSketch.Internals

Methods

writer :: (a, [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)]) -> GenSketch pinid a

tell :: [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] -> GenSketch pinid ()

listen :: GenSketch pinid a -> GenSketch pinid (a, [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)])

pass :: GenSketch pinid (a, [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] -> [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)]) -> GenSketch pinid a

(Ord pinid, Typed a) => IfThenElse (GenSketch pinid) (Behavior a)

Defined in Copilot.FRPSketch

Methods

ifThenElse :: Behavior Bool -> GenSketch pinid (Behavior a) -> GenSketch pinid (Behavior a) -> GenSketch pinid (Behavior a)

Semigroup (GenSketch pinid t)

Defined in Copilot.FRPSketch.Internals

Methods

(<>) :: GenSketch pinid t -> GenSketch pinid t -> GenSketch pinid t

sconcat :: NonEmpty (GenSketch pinid t) -> GenSketch pinid t

stimes :: Integral b => b -> GenSketch pinid t -> GenSketch pinid t

Monoid (GenSketch pinid ())

Defined in Copilot.FRPSketch.Internals

Methods

mempty :: GenSketch pinid ()

mappend :: GenSketch pinid () -> GenSketch pinid () -> GenSketch pinid ()

mconcat :: [GenSketch pinid ()] -> GenSketch pinid ()

newtype UniqueIds

Constructors

UniqueIds (Map String Integer)

Instances

MonadState UniqueIds (GenSketch pinid)

Defined in Copilot.FRPSketch.Internals

Methods

get :: GenSketch pinid UniqueIds

put :: UniqueIds -> GenSketch pinid ()

state :: (UniqueIds -> (a, UniqueIds)) -> GenSketch pinid a

newtype UniqueId

Constructors

UniqueId Integer

data TriggerLimit

Constructors

TriggerLimit (Behavior Bool)

NoTriggerLimit

Instances

Semigroup TriggerLimit

Defined in Copilot.FRPSketch.Internals

Methods

(<>) :: TriggerLimit -> TriggerLimit -> TriggerLimit

sconcat :: NonEmpty TriggerLimit -> TriggerLimit

stimes :: Integral b => b -> TriggerLimit -> TriggerLimit

Monoid TriggerLimit

Defined in Copilot.FRPSketch.Internals

Methods

mempty :: TriggerLimit

mappend :: TriggerLimit -> TriggerLimit -> TriggerLimit

mconcat :: [TriggerLimit] -> TriggerLimit

MonadWriter [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] (GenSketch pinid)

Defined in Copilot.FRPSketch.Internals

Methods

writer :: (a, [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)]) -> GenSketch pinid a

tell :: [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] -> GenSketch pinid ()

listen :: GenSketch pinid a -> GenSketch pinid (a, [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)])

pass :: GenSketch pinid (a, [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] -> [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)]) -> GenSketch pinid a

getTriggerLimit :: TriggerLimit -> Behavior Bool

addTriggerLimit :: TriggerLimit -> Behavior Bool -> Behavior Bool

evalSketch :: Ord pinid => GenSketch pinid a -> (Maybe Spec, GenFramework pinid)

whenB :: Ord pinid => Behavior Bool -> GenSketch pinid t -> GenSketch pinid t

Limit the effects of a Sketch to times when a Behavior Bool is True.

When applied to =:, this does the same thing as @: but without the FRP style conversion the input Behavior into an Event. So @: is generally better to use than this.

But, this can also be applied to input, to limit how often input gets read. Useful to avoid performing slow input operations on every iteration of a Sketch.

v <- whenB (frequency 10) $ input pin12

(It's best to think of the value returned by that as an Event, but it's currently represented as a Behavior, since the Copilot DSL cannot operate on Events.)

getUniqueId :: String -> GenSketch pinid UniqueId

Gets a unique id.

uniqueName :: String -> UniqueId -> String

Generates a unique name.

uniqueName' :: String -> UniqueId -> String

data GenFramework pinid

The framework of a sketch.

This is a generalized Framework that can operate on any type of pinid.

Constructors

Framework

Fields

• defines :: [CChunk]

  Things that come before the C code generated by Copilot.

• setups :: [CChunk]

  Things to do at setup, not including configuring pins.

• earlySetups :: [CChunk]

  Things to do at setup, before the setups.

• pinmodes :: Map pinid (Set PinMode)

  How pins are used.

• loops :: [CChunk]

  Things to run in loop.

Instances

Ord pinid => Semigroup (GenFramework pinid)

Defined in Copilot.FRPSketch.Internals

Methods

(<>) :: GenFramework pinid -> GenFramework pinid -> GenFramework pinid

sconcat :: NonEmpty (GenFramework pinid) -> GenFramework pinid

stimes :: Integral b => b -> GenFramework pinid -> GenFramework pinid

Ord pinid => Monoid (GenFramework pinid)

Defined in Copilot.FRPSketch.Internals

Methods

mempty :: GenFramework pinid

mappend :: GenFramework pinid -> GenFramework pinid -> GenFramework pinid

mconcat :: [GenFramework pinid] -> GenFramework pinid

MonadWriter [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] (GenSketch pinid)

Defined in Copilot.FRPSketch.Internals

Methods

writer :: (a, [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)]) -> GenSketch pinid a

tell :: [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] -> GenSketch pinid ()

listen :: GenSketch pinid a -> GenSketch pinid (a, [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)])

pass :: GenSketch pinid (a, [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)] -> [(TriggerLimit -> Spec, TriggerLimit -> GenFramework pinid)]) -> GenSketch pinid a

newtype CLine

A line of C code.

Constructors

CLine

Fields

• fromCLine :: String

Instances

Eq CLine

Defined in Copilot.FRPSketch.Internals

Methods

(==) :: CLine -> CLine -> Bool

(/=) :: CLine -> CLine -> Bool

Ord CLine

Defined in Copilot.FRPSketch.Internals

Methods

compare :: CLine -> CLine -> Ordering

(<) :: CLine -> CLine -> Bool

(<=) :: CLine -> CLine -> Bool

(>) :: CLine -> CLine -> Bool

(>=) :: CLine -> CLine -> Bool

max :: CLine -> CLine -> CLine

min :: CLine -> CLine -> CLine

Show CLine

Defined in Copilot.FRPSketch.Internals

Methods

showsPrec :: Int -> CLine -> ShowS

show :: CLine -> String

showList :: [CLine] -> ShowS

newtype CChunk

A chunk of C code. Identical chunks get deduplicated.

Constructors

CChunk [CLine]

Instances

Eq CChunk

Defined in Copilot.FRPSketch.Internals

Methods

(==) :: CChunk -> CChunk -> Bool

(/=) :: CChunk -> CChunk -> Bool

Ord CChunk

Defined in Copilot.FRPSketch.Internals

Methods

compare :: CChunk -> CChunk -> Ordering

(<) :: CChunk -> CChunk -> Bool

(<=) :: CChunk -> CChunk -> Bool

(>) :: CChunk -> CChunk -> Bool

(>=) :: CChunk -> CChunk -> Bool

max :: CChunk -> CChunk -> CChunk

min :: CChunk -> CChunk -> CChunk

Show CChunk

Defined in Copilot.FRPSketch.Internals

Methods

showsPrec :: Int -> CChunk -> ShowS

show :: CChunk -> String

showList :: [CChunk] -> ShowS

Semigroup CChunk

Defined in Copilot.FRPSketch.Internals

Methods

(<>) :: CChunk -> CChunk -> CChunk

sconcat :: NonEmpty CChunk -> CChunk

stimes :: Integral b => b -> CChunk -> CChunk

Monoid CChunk

Defined in Copilot.FRPSketch.Internals

Methods

mempty :: CChunk

mappend :: CChunk -> CChunk -> CChunk

mconcat :: [CChunk] -> CChunk

mkCChunk :: [CLine] -> [CChunk]

defineTriggerAlias :: String -> GenFramework pinid -> GenSketch pinid (GenFramework pinid, String)

Copilot only supports calling a trigger with a given name once per Spec; the generated C code will fail to build if the same name is used in two triggers. This generates a unique alias that can be used in a trigger.

defineTriggerAlias' :: String -> String -> GenFramework pinid -> GenSketch pinid (GenFramework pinid, String)

data MkInputSource pinid t

Constructors

InputSource

Fields

• defineVar :: [CChunk]

  Added to the Framework's defines, this typically defines a C variable.

• setupInput :: [CChunk]

  How to set up the input, not including pin mode.

• inputPinmode :: Map pinid PinMode

  How pins are used by the input.

• readInput :: [CChunk]

  How to read a value from the input, this typically reads a value into a C variable.

• inputStream :: Stream t

  How to use Copilot's extern to access the input values.

mkInput :: MkInputSource pinid t -> GenSketch pinid (Behavior t)

data PinCapabilities

Constructors

DigitalIO

AnalogInput

PWM

Instances

Eq PinCapabilities

Defined in Copilot.FRPSketch.Internals

Methods

(==) :: PinCapabilities -> PinCapabilities -> Bool

(/=) :: PinCapabilities -> PinCapabilities -> Bool

Ord PinCapabilities

Defined in Copilot.FRPSketch.Internals

Methods

compare :: PinCapabilities -> PinCapabilities -> Ordering

(<) :: PinCapabilities -> PinCapabilities -> Bool

(<=) :: PinCapabilities -> PinCapabilities -> Bool

(>) :: PinCapabilities -> PinCapabilities -> Bool

(>=) :: PinCapabilities -> PinCapabilities -> Bool

max :: PinCapabilities -> PinCapabilities -> PinCapabilities

min :: PinCapabilities -> PinCapabilities -> PinCapabilities

Show PinCapabilities

Defined in Copilot.FRPSketch.Internals

Methods

showsPrec :: Int -> PinCapabilities -> ShowS

show :: PinCapabilities -> String

showList :: [PinCapabilities] -> ShowS

type family IsDigitalIOPin t where ...

Equations

IsDigitalIOPin t = 'True ~ If (HasPinCapability 'DigitalIO t) 'True (TypeError ('Text "This Pin does not support digital IO"))

type family IsAnalogInputPin t where ...

Equations

IsAnalogInputPin t = 'True ~ If (HasPinCapability 'AnalogInput t) 'True (TypeError ('Text "This Pin does not support analog input"))

type family IsPWMPin t where ...

Equations

IsPWMPin t = 'True ~ If (HasPinCapability 'PWM t) 'True (TypeError ('Text "This Pin does not support PWM"))

type family HasPinCapability (c :: t) (list :: [t]) :: Bool where ...

Equations

HasPinCapability c '[] = 'False

HasPinCapability c (x ': xs) = SameCapability c x || HasPinCapability c xs

type family SameCapability a b :: Bool where ...

Equations

SameCapability 'DigitalIO 'DigitalIO = 'True

SameCapability 'AnalogInput 'AnalogInput = 'True

SameCapability 'PWM 'PWM = 'True

SameCapability _ _ = 'False

data PinMode

Constructors

InputMode

InputPullupMode

OutputMode

Instances

Eq PinMode

Defined in Copilot.FRPSketch.Internals

Methods

(==) :: PinMode -> PinMode -> Bool

(/=) :: PinMode -> PinMode -> Bool

Ord PinMode

Defined in Copilot.FRPSketch.Internals

Methods

compare :: PinMode -> PinMode -> Ordering

(<) :: PinMode -> PinMode -> Bool

(<=) :: PinMode -> PinMode -> Bool

(>) :: PinMode -> PinMode -> Bool

(>=) :: PinMode -> PinMode -> Bool

max :: PinMode -> PinMode -> PinMode

min :: PinMode -> PinMode -> PinMode

Show PinMode

Defined in Copilot.FRPSketch.Internals

Methods

showsPrec :: Int -> PinMode -> ShowS

show :: PinMode -> String

showList :: [PinMode] -> ShowS

class Output o t where

Things that can have a Behavior or Event output to them.

Methods

(=:) :: o -> t -> GenSketch pinid () infixr 1

Connect a Behavior or Event to an Output

led =: blinking

When a Behavior is used, its current value is written on each iteration of the Sketch.

For example, this constantly turns on the LED, even though it will already be on after the first iteration, because true is a Behavior (that is always True).

led =: true

To avoid unncessary work being done, you can use an Event instead. Then the write only happens at the points in time when the Event occurs. To turn a Behavior into an Event, use @:

So to make the LED only be turned on in the first iteration, and allow it to remain on thereafter without doing extra work:

led =: true @: firstIteration

Instances

Output o (Event () (Stream v)) => Output o (Behavior v)

Defined in Copilot.FRPSketch.Internals

Methods

(=:) :: o -> Behavior v -> GenSketch pinid ()

Output o (Event p (Stream v)) => Output o (TypedBehavior p v)

Defined in Copilot.FRPSketch.Internals

Methods

(=:) :: o -> TypedBehavior p v -> GenSketch pinid ()

type family BehaviorToEvent a

This type family is open, so it can be extended when adding other data types to the IsBehavior class.

Instances

type BehaviorToEvent (Behavior v)

Defined in Copilot.FRPSketch.Internals

type BehaviorToEvent (Behavior v) = Event () (Stream v)

type BehaviorToEvent (TypedBehavior p v)

Defined in Copilot.FRPSketch.Internals

type BehaviorToEvent (TypedBehavior p v) = Event p (Stream v)

class IsBehavior behavior where

Methods

(@:) :: behavior -> Behavior Bool -> BehaviorToEvent behavior

Generate an Event, from some type of behavior, that only occurs when the Behavior Bool is True.

Instances

IsBehavior (Behavior v)

Defined in Copilot.FRPSketch.Internals

Methods

(@:) :: Behavior v -> Behavior Bool -> BehaviorToEvent (Behavior v)

IsBehavior (TypedBehavior p v)

Defined in Copilot.FRPSketch.Internals

Methods

(@:) :: TypedBehavior p v -> Behavior Bool -> BehaviorToEvent (TypedBehavior p v)

class Input o t where

Methods

input' :: o -> [t] -> GenSketch pinid (Behavior t)

The list is input to use when simulating the Sketch.

input :: Input o t => o -> GenSketch pinid (Behavior t)

Use this to read a value from a component of the board.

For example, to read a digital value from pin12 and turn on the led when the pin is high:

buttonpressed <- input pin12
led =: buttonpressed

Some pins support multiple types of reads, for example a pin may support a digital read (Bool), and an analog to digital converter read (ADC). In such cases you may need to specify the type of data to read:

v <- input a0 :: Sketch (Behavior ADC)