hsm-bin/Test/Drive.hs


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{-# LANGUAGE OverloadedRecordDot #-}
{-# LANGUAGE OverloadedStrings #-}

import Control.IO.Region (region)
import Control.Monad.Loops (whileJust_)
import Hsm.Drive (DriveEnv, drive, driveEnvDefault)
import Hsm.GPIO (allocateGPIO)
import Hsm.PWM qualified as P
import Hsm.Readline (allocateReadline, readline)

newtype Env = Env
  { driveEnv :: DriveEnv
  }

main :: IO ()
main =
  region $ \ioRegion -> do
    lineRequest <- allocateGPIO ioRegion "test-drive"
    pwmHandle <- P.allocatePWM ioRegion
    handle <- allocateReadline ioRegion
    whileJust_ (readline handle)
      $ drive pwmHandle lineRequest
      $ Env driveEnvDefault