HsMouse

Experimental control code for robotics. Tested on Raspberry Pi 5.

Features

zeromq4-haskell library is used for IPC.
effectful library is used to control effects within monadic computations.
streamly library is used to build pipelines modularly and stream data within pipeline elements. E.g. zmq client & processor & zmq server.

Build

Install stack. I recommend using ghcup for this. Run stack build to compile all libraries and executables. Note: you might need to install some system dependencies on your host first (e.g. libzmq, etc.)

Test

On one terminal, run stack exec dummy-receiver. This will initialize a ZMQ client that will wait for incoming pulses. On a separate terminal, run stack exec dummy-pulser. You should be able to see pulses being transmitted from server to client. E.g.:

$> stack exec dummy-receiver
2025-01-12 21:27:02 INFO receiver/client: Initializing ZMQ client
2025-01-12 21:27:16 INFO receiver/receiver: Received pulse #1
2025-01-12 21:27:17 INFO receiver/receiver: Received pulse #2
2025-01-12 21:27:18 INFO receiver/receiver: Received pulse #3
2025-01-12 21:27:19 INFO receiver/receiver: Received pulse #4
2025-01-12 21:27:20 INFO receiver/receiver: Received pulse #5
2025-01-12 21:27:21 INFO receiver/receiver: Received pulse #6
2025-01-12 21:27:22 INFO receiver/receiver: Received pulse #7
2025-01-12 21:27:23 INFO receiver/receiver: Received pulse #8
2025-01-12 21:27:24 INFO receiver/receiver: Received pulse #9

$> stack exec dummy-pulser
2025-01-12 21:27:15 INFO pulser/server: Initializing ZMQ server
2025-01-12 21:27:16 INFO pulser/fsm/run: Sending pulse #1
2025-01-12 21:27:17 INFO pulser/fsm/run: Sending pulse #2
2025-01-12 21:27:18 INFO pulser/fsm/run: Sending pulse #3
2025-01-12 21:27:19 INFO pulser/fsm/run: Sending pulse #4
2025-01-12 21:27:20 INFO pulser/fsm/run: Sending pulse #5
2025-01-12 21:27:21 INFO pulser/fsm/run: Sending pulse #6
2025-01-12 21:27:22 INFO pulser/fsm/run: Sending pulse #7
2025-01-12 21:27:23 INFO pulser/fsm/run: Sending pulse #8
2025-01-12 21:27:24 INFO pulser/fsm/run: Sending pulse #9
2025-01-12 21:27:25 ATTENTION pulser/fsm/run: Reached 10 pulses
2025-01-12 21:27:25 ATTENTION pulser/fsm: No state returned, exiting FSM