4 files changed, 184 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
diff --git a/hsm-command/Hsm/Command/Readline.hs b/hsm-command/Hsm/Command/Readline.hs
new file mode 100644
index 0000000..3c56453
--- /dev/null
+++ b/hsm-command/Hsm/Command/Readline.hs
@@ -0,0 +1,51 @@
+{-# LANGUAGE DataKinds #-}
+{-# LANGUAGE TypeFamilies #-}
+
+module Hsm.Command.Readline
+  ( Readline
+  , readline
+  , runReadline
+  ) where
+
+import Effectful (Dispatch(Static), DispatchOf, Eff, IOE, (:>))
+import Effectful.Dispatch.Static qualified as S
+import Effectful.Log (Log, getLoggerEnv, leLogger, waitForLogger)
+import Effectful.Resource (Resource, allocate)
+import System.Console.Haskeline qualified as H
+import System.Console.Haskeline.IO qualified as H
+
+data Readline a b
+
+type instance DispatchOf Readline = Static S.WithSideEffects
+
+newtype instance S.StaticRep Readline =
+  Readline H.InputState
+
+readline ::
+     forall es. (Log :> es, Readline :> es)
+  => Eff es (Maybe String)
+readline = do
+  flushLogger
+  Readline hdl <- S.getStaticRep
+  S.unsafeEff_ $ nextLine hdl
+  where
+    flushLogger :: Eff es ()
+    flushLogger = getLoggerEnv >>= S.unsafeEff_ . waitForLogger . leLogger
+    --
+    nextLine :: H.InputState -> IO (Maybe String)
+    nextLine hdl =
+      H.queryInput hdl
+        $ H.handleInterrupt (return Nothing)
+        $ H.withInterrupt
+        $ H.getInputLine "% "
+
+runReadline :: (IOE :> es, Resource :> es) => Eff (Readline : es) a -> Eff es a
+runReadline action = do
+  handle <- snd <$> allocate istate H.cancelInput
+  S.evalStaticRep (Readline handle) action
+  where
+    settings :: H.Settings IO
+    settings = H.defaultSettings {H.historyFile = Just ".hsm_command_history"}
+    --
+    istate :: IO H.InputState
+    istate = H.initializeInput settings
diff --git a/hsm-command/Main.hs b/hsm-command/Main.hs
new file mode 100644
index 0000000..0b24719
--- /dev/null
+++ b/hsm-command/Main.hs
@@ -0,0 +1,33 @@
+{-# LANGUAGE OverloadedRecordDot #-}
+{-# LANGUAGE OverloadedStrings #-}
+{-# LANGUAGE TemplateHaskell #-}
+
+import Data.Function ((&))
+import Data.Text (Text)
+import Effectful (runEff)
+import Effectful.Log (runLog)
+import Effectful.Reader.Static (runReader)
+import Effectful.Resource (runResource)
+import Hsm.Command.Command (commandStream)
+import Hsm.Command.Readline (runReadline)
+import Hsm.Core.App (launch)
+import Hsm.Core.Env (deriveFromYaml)
+import Hsm.Core.Zmq.Server (runServer, send)
+
+data Env = Env
+  { name :: Text
+  , pubEp :: Text
+  }
+
+$(deriveFromYaml ''Env)
+
+main :: IO ()
+main =
+  launch @Env "command" id $ \env logger level ->
+    (commandStream & send @Env)
+      & runServer @Env
+      & runLog env.name logger level
+      & runReader env
+      & runReadline
+      & runResource
+      & runEff
diff --git a/hsm-command/hsm-command.cabal b/hsm-command/hsm-command.cabal
new file mode 100644
index 0000000..766f372
--- /dev/null
+++ b/hsm-command/hsm-command.cabal
@@ -0,0 +1,48 @@
+cabal-version: 3.4
+author:        Paul Oliver
+build-type:    Simple
+maintainer:    contact@pauloliver.dev
+name:          hsm-command
+version:       0.1.0.0
+
+library
+  build-depends:
+    , base
+    , binary
+    , effectful-core
+    , haskeline
+    , log-effectful
+    , resourcet-effectful
+    , streamly-core
+    , text
+
+  exposed-modules:
+    Hsm.Command.Command
+    Hsm.Command.Readline
+
+  ghc-options:      -Wall -Wunused-packages
+  default-language: GHC2021
+
+executable command
+  build-depends:
+    , base
+    , binary
+    , effectful-core
+    , haskeline
+    , hsm-core
+    , log-effectful
+    , resourcet-effectful
+    , streamly-core
+    , text
+
+  main-is:          Main.hs
+  other-modules:
+    Hsm.Command.Command
+    Hsm.Command.Readline
+
+  ghc-options:      -Wall -Wunused-packages
+
+  if !arch(x86_64)
+    ghc-options: -optl=-mno-fix-cortex-a53-835769
+
+  default-language: GHC2021