-- Hoogle documentation, generated by Haddock
-- See Hoogle, http://www.haskell.org/hoogle/


-- | ROS message parser, render, TH
--   
--   Please see README.md
@package rosmsg
@version 0.5.0.0


-- | ROS message MD5 recurrent hash. Replace user types by it's MD5 and
--   take hash of result.
module Robotics.ROS.Msg.MD5

-- | After finalizing a context, using md5Finalize, a new type is returned
--   to prevent 're-finalizing' the structure.
data MD5Digest :: *

-- | Compute MD5 for given message with user type hashes
--   
--   Recursively generate MD5 for subtype. Have to build up dependency
--   representation for subtype in order to generate MD5.
computeMD5 :: [(Text, MD5Digest)] -> Text -> MD5Digest


-- | Common used data types.
module Robotics.ROS.Msg.Types

-- | ROS message field is a variable or constant declaration
data FieldDefinition

-- | Variable field name and type
Variable :: Field -> FieldDefinition

-- | Constant field name, type and value
Constant :: Field -> Text -> FieldDefinition

-- | A variant type describing the simple types that may be included in a
--   ROS message.
data SimpleType
RBool :: SimpleType
RByte :: SimpleType
RChar :: SimpleType
RInt8 :: SimpleType
RUInt8 :: SimpleType
RInt16 :: SimpleType
RUInt16 :: SimpleType
RInt32 :: SimpleType
RUInt32 :: SimpleType
RInt64 :: SimpleType
RUInt64 :: SimpleType
RFloat32 :: SimpleType
RFloat64 :: SimpleType
RString :: SimpleType
RTime :: SimpleType
RDuration :: SimpleType

-- | A variant type describing the types that may be included in a ROS
--   message.
data FieldType
Simple :: SimpleType -> FieldType
Custom :: Text -> FieldType
Array :: FieldType -> FieldType
FixedArray :: Int -> FieldType -> FieldType

-- | ROS message is a list of fields
type MsgDefinition = [FieldDefinition]

-- | Field name is text encoded
type FieldName = Text

-- | Field is a pair of name - value
type Field = (FieldType, FieldName)

-- | ROSDuration is a tuple of (seconds, nanoseconds)
type ROSDuration = (Int32, Int32)

-- | ROSTime is a tuple of (seconds, nanoseconds)
type ROSTime = (Word32, Word32)
instance GHC.Classes.Eq Robotics.ROS.Msg.Types.FieldDefinition
instance GHC.Show.Show Robotics.ROS.Msg.Types.FieldDefinition
instance GHC.Classes.Eq Robotics.ROS.Msg.Types.FieldType
instance GHC.Show.Show Robotics.ROS.Msg.Types.FieldType
instance GHC.Classes.Eq Robotics.ROS.Msg.Types.SimpleType
instance GHC.Enum.Enum Robotics.ROS.Msg.Types.SimpleType
instance GHC.Show.Show Robotics.ROS.Msg.Types.SimpleType


-- | Parser components for the ROS message description language
--   (<tt>msg</tt> files). See <a>http://wiki.ros.org/msg</a> for
--   reference.
module Robotics.ROS.Msg.Parser

-- | The result of a parse.
data Result r :: * -> *

-- | The parse failed. The <a>Text</a> is the input that had not yet been
--   consumed when the failure occurred. The
--   <tt>[</tt><a>String</a><tt>]</tt> is a list of contexts in which the
--   error occurred. The <a>String</a> is the message describing the error,
--   if any.
Fail :: Text -> [String] -> String -> Result r

-- | The parse succeeded. The <a>Text</a> is the input that had not yet
--   been consumed (if any) when the parse succeeded.
Done :: Text -> r -> Result r

-- | Run a parser and return its result.
parse :: Parser a -> Text -> Result a

-- | The ROS message language parser
rosmsg :: Parser MsgDefinition


-- | The ROS message language builder from abstract message definition.
module Robotics.ROS.Msg.Render

-- | Create lazy text builder from message definition
--   
--   Render formal ROS message definition according to:
--   
--   <ul>
--   <li>comments removed</li>
--   <li>whitespace removed</li>
--   <li>package names of dependencies removed</li>
--   <li>constants reordered ahead of other declarations from
--   <a>http://www.ros.org/wiki/ROS/Technical%20Overview</a></li>
--   </ul>
--   
--   The <tt>genmsg</tt> python implementation says: Compute the text used
--   for md5 calculation. MD5 spec states that we removes comments and
--   non-meaningful whitespace. We also strip packages names from type
--   names. For convenience sake, constants are reordered ahead of other
--   declarations, in the order that they were originally defined.
render :: MsgDefinition -> Builder

-- | Render message definition to <a>Text</a> instantly
renderT :: MsgDefinition -> Text


-- | Robot Operating System (ROS) is a set of software libraries and tools
--   that help you build robot applications. From drivers to
--   state-of-the-art algorithms, and with powerful developer tools, ROS
--   has what you need for your next robotics project. And it's all open
--   source.
--   
--   In ROS a node is a process that performs computation. Nodes
--   communicate with each other by publishing messages to topics. A
--   message is a simple data structure, comprising typed fields. Standard
--   primitive types (integer, floating point, boolean, etc.) are
--   supported, as are arrays of primitive types. Messages can include
--   arbitrarily nested structures and arrays (much like C structs).
--   
--   This package provide the ROS message language parser and builder.
--   Abstract message representation given by parser can be used in
--   TemplateHaskell codegen for native Haskell structures creation.
--   
--   <pre>
--   &gt;&gt;&gt; [rosmsgFrom|/opt/ros/jade/share/std_msgs/msg/Byte.msg|]
--   "[Variable (Simple RByte,\"data\")]"
--   </pre>
--   
--   <pre>
--   &gt;&gt;&gt; [rosmsgFrom|/opt/ros/jade/share/geometry_msgs/msg/Polygon.msg|]
--   "[Variable (Array (Custom \"Point32\"),\"points\")]"
--   </pre>
module Robotics.ROS.Msg

-- | Haskell native type for ROS message language described data structure.
--   Serialization guaranted by <a>Binary</a> super class. And no more is
--   needed for transfer over socket.
class Binary a => Message a

-- | Get message type string, e.g. <tt>std_msgs/Char</tt>
getType :: Message a => a -> Text

-- | Get message source
getSource :: Message a => a -> Text

-- | Get recurrent MD5 of message source
getDigest :: Message a => a -> MD5Digest

-- | Sometime ROS messages have a special <tt>Header</tt> field. It used
--   for tracking package sequence, time stamping and frame tagging.
--   Headers is frequently field. The <a>Stamped</a> type class lifts
--   header fields on the top of message and abstracting of type.
class Message a => Stamped a

-- | Get sequence number
getSequence :: Stamped a => a -> Word32

-- | Set sequence number
setSequence :: Stamped a => Word32 -> a -> a

-- | Get timestamp of message
getStamp :: Stamped a => a -> ROSTime

-- | Get frame of message
getFrame :: Stamped a => a -> ByteString

-- | A type for fixed arrays in ROS messages
newtype ROSFixedArray (n :: Nat) a
ROSFixedArray :: Array a -> ROSFixedArray a
[unFixedArray] :: ROSFixedArray a -> Array a

-- | A type for arrays in ROS messages
newtype ROSArray a
ROSArray :: Array a -> ROSArray a
[unArray] :: ROSArray a -> Array a

-- | ROSDuration is a tuple of (seconds, nanoseconds)
type ROSDuration = (Int32, Int32)

-- | ROSTime is a tuple of (seconds, nanoseconds)
type ROSTime = (Word32, Word32)


-- | Template Haskell driven code generator from ROS message language to
--   Haskell native representation.
module Robotics.ROS.Msg.TH

-- | QQ for data type and instances generation from ROS message declaration
rosmsg :: QuasiQuoter

-- | Generate ROS message declarations from .msg file
rosmsgFrom :: QuasiQuoter