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|
{-# LANGUAGE DeriveAnyClass #-}
{-# LANGUAGE ImportQualifiedPost #-}
module Hsm.Command.Command
( Direction (Forward, Backward, Left, Right)
, Angle (CW, CCW)
, Speed (Slow, Mid, Fast)
, Command (Move, Rotate)
, commandStream
)
where
import Data.Binary (Binary)
import Data.Function ((&))
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 (Stream, mapMaybeM, repeatM, takeWhile)
import Text.Read (readEither)
import Prelude hiding (Left, Right, takeWhile)
import Prelude qualified as P
data Direction
= Forward
| Backward
| Left
| Right
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
)
=> Stream (Eff es) Command
commandStream =
repeatM readline
& takeWhile isJust
& mapMaybeM (parse . fromJust)
where
parse
:: Log :> es
=> String
-> Eff es (Maybe Command)
parse string =
case readEither string of
P.Left err -> logAttention_ (pack err) >> return Nothing
P.Right command -> return $ Just command
|
