Initial

1 files changed, 52 insertions, 0 deletions

diff --git a/hsm-command/Hsm/Command/Command.hs b/hsm-command/Hsm/Command/Command.hs
new file mode 100644
index 0000000..3b53287
--- /dev/null
+++ b/hsm-command/Hsm/Command/Command.hs
@@ -0,0 +1,52 @@
+{-# LANGUAGE DeriveAnyClass #-}
+
+module Hsm.Command.Command
+  ( Direction(X, Z)
+  , Angle(CW, CCW)
+  , Speed(Slow, Mid, Fast)
+  , Command(Move, Rotate)
+  , commandStream
+  ) where
+
+import Data.Binary (Binary)
+import Data.Maybe (fromJust, isJust)
+import Data.Text (pack)
+import Effectful (Eff, (:>))
+import Effectful.Log (Log, logAttention_)
+import GHC.Generics (Generic)
+import Hsm.Command.Readline (Readline, readline)
+import Streamly.Data.Stream qualified as S
+import Text.Read (readEither)
+
+data Direction
+  = X
+  | Z
+  deriving (Binary, Generic, Read, Show)
+
+data Angle
+  = CW
+  | CCW
+  deriving (Binary, Generic, Read, Show)
+
+data Speed
+  = Slow
+  | Mid
+  | Fast
+  deriving (Binary, Generic, Read, Show)
+
+data Command
+  = Move Direction Speed Int
+  | Rotate Angle Speed Int
+  deriving (Binary, Generic, Read, Show)
+
+commandStream ::
+     forall es. (Log :> es, Readline :> es)
+  => S.Stream (Eff es) Command
+commandStream =
+  S.mapMaybeM (parse . fromJust) $ S.takeWhile isJust $ S.repeatM readline
+  where
+    parse :: String -> Eff es (Maybe Command)
+    parse string =
+      case readEither string of
+        Left err -> logAttention_ (pack err) >> return Nothing
+        Right command -> return $ Just command