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{-# LANGUAGE AllowAmbiguousTypes #-}
{-# LANGUAGE DataKinds #-}
{-# LANGUAGE DeriveAnyClass #-}
{-# LANGUAGE OverloadedRecordDot #-}
{-# LANGUAGE OverloadedStrings #-}
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.ByteString (ByteString)
import Data.Maybe (fromJust, isJust)
import Data.Text (Text, pack)
import Effectful (Eff, (:>))
import Effectful.Log (Log, logAttention_, logTrace_)
import Effectful.Reader.Static (Reader, ask)
import GHC.Generics (Generic)
import GHC.Records (HasField)
import Hsm.Command.Readline (Readline, readline)
import Hsm.Core.Message (message)
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 env es.
( HasField "name" env Text
, Log :> es
, Reader env :> es
, Readline :> es
)
=> S.Stream (Eff es) ByteString
commandStream =
S.mapMaybeM (parse . fromJust) $ S.takeWhile isJust $ S.repeatM readline
where
parse string = do
case readEither @Command string of
Left err -> do
logAttention_ $ pack err
return Nothing
Right command -> do
env <- ask @env
logTrace_ $ "Sending command: " <> pack (show command)
return $ Just $ message env.name command
|
