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Made Cabal NXT package.

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1 parent 0830a3a commit 02d705e242554b06647aa345fa31edef46d33b9c @mitar committed Nov 15, 2010
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+syntax: regexp
+^dist
+syntax: glob
+*.o
+*.hi
+.*
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165 LICENSE
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+ GNU LESSER GENERAL PUBLIC LICENSE
+ Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
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@@ -0,0 +1,57 @@
+Name: NXT
+Version: 0.1
+Synopsis: A Haskell interface to Lego Mindstorms NXT over Bluetoooth
+Description: A Haskell interface to Lego Mindstorms NXT over Bluetoooth. It supports direct commands, messages and
+ many sensors (also unofficial). It has also support for a simple message-based control of a brick via
+ remotely executed program (basic NXC code included).
+ .
+ Feel free to contribute additional features and interfaces for more sensors.
+ .
+ It contains two simple programs: @nxt-upload@ for uploading files to NXT brick and @nxt-shutdown@ for
+ remote shutdown of NXT brick. Feel free to propose or write other (example) programs.
+License: LGPL-3
+License-file: LICENSE
+Author: Mitar Milutinovic
+Maintainer: mitar.haskell@tnode.com
+Copyright: (c) 2010 Mitar Milutinovic
+Category: Robotics
+Build-type: Simple
+Cabal-version: >= 1.8
+Stability: experimental
+Homepage: http://mitar.tnode.com
+
+Library
+ Exposed-modules: Robotics.NXT,
+ Robotics.NXT.Compass,
+ Robotics.NXT.UltrasonicSensor,
+ Robotics.NXT.Remote
+ Build-depends: base >= 4 && < 5,
+ mtl >= 1.1 && < 2,
+ bytestring >= 0.9 && < 1,
+ unix >= 2.4 && < 3,
+ time >= 1.1 && < 2
+ Other-modules: Robotics.NXT.BluetoothUtils,
+ Robotics.NXT.Data,
+ Robotics.NXT.Errors,
+ Robotics.NXT.Protocol,
+ Robotics.NXT.Types
+ Hs-source-dirs: lib
+ C-sources: ffi/blue.c,
+ ffi/initserial.c
+ Includes: ffi/blue.h,
+ ffi/initserial.h
+
+Executable nxt-shutdown
+ Main-is: Shutdown.hs
+ Hs-source-dirs: src
+ Build-depends: base >= 4 && < 5,
+ mtl >= 1.1 && < 2,
+ NXT == 0.1
+
+Executable nxt-upload
+ Main-is: UploadFiles.hs
+ Hs-source-dirs: src
+ Build-depends: base >= 4 && < 5,
+ mtl >= 1.1 && < 2,
+ filepath >= 1.1 && < 2,
+ NXT == 0.1
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+import Distribution.Simple
+main = defaultMain
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@@ -0,0 +1,13 @@
+module Robotics.NXT (
+ module Robotics.NXT.BluetoothUtils,
+ module Robotics.NXT.Data,
+ module Robotics.NXT.Errors,
+ module Robotics.NXT.Protocol,
+ module Robotics.NXT.Types
+) where
+
+import Robotics.NXT.BluetoothUtils
+import Robotics.NXT.Data
+import Robotics.NXT.Errors
+import Robotics.NXT.Protocol
+import Robotics.NXT.Types
@@ -1,18 +1,21 @@
{-# LANGUAGE ForeignFunctionInterface #-}
+{-# CFILES ffi/blue.c #-}
-module NXT.BluetoothUtils (
+module Robotics.NXT.BluetoothUtils (
bluetoothRSSI,
bluetoothLinkQuality,
bluetoothAddress
) where
+import Control.Exception
import Control.Monad.State
import Foreign
import Foreign.C.String
import Foreign.C.Types
-import NXT.NXT
-import NXT.Types
+import Robotics.NXT.Errors
+import Robotics.NXT.Protocol
+import Robotics.NXT.Types
-- Foreign function call for C function which returns RSSI Bluetooth value of a connection to a given Bluetooth address
foreign import ccall unsafe "rssi" rssi :: CString -> IO CInt
@@ -35,12 +38,12 @@ bluetoothRSSI = do
bluetoothRSSIAddr :: BTAddress -> NXT Int
bluetoothRSSIAddr addr = do
- ret <- io $ withCString addr rssi
+ ret <- liftIO $ withCString addr rssi
let ret' = fromIntegral ret
case ret' of
- _ | ret' == blueError -> error "Could not get connection's RSSI"
- | ret' == blueNotConnected -> error "Connection not established"
- | ret' == blueNotSupported -> error "Not supported on this system"
+ _ | ret' == blueError -> liftIO $ throwIO $ NXTException "Could not get connection's RSSI"
+ | ret' == blueNotConnected -> liftIO $ throwIO $ NXTException "Connection not established"
+ | ret' == blueNotSupported -> liftIO $ throwIO $ NXTException "Not supported on this system"
| otherwise -> return ret'
bluetoothLinkQuality :: NXT Int
@@ -50,12 +53,12 @@ bluetoothLinkQuality = do
bluetoothLinkQualityAddr :: BTAddress -> NXT Int
bluetoothLinkQualityAddr addr = do
- ret <- io $ withCString addr lq
+ ret <- liftIO $ withCString addr lq
let ret' = fromIntegral ret
case ret' of
- _ | ret' == blueError -> error "Could not get connection's link quality"
- | ret' == blueNotConnected -> error "Connection not established"
- | ret' == blueNotSupported -> error "Not supported on this system"
+ _ | ret' == blueError -> liftIO $ throwIO $ NXTException "Could not get connection's link quality"
+ | ret' == blueNotConnected -> liftIO $ throwIO $ NXTException "Connection not established"
+ | ret' == blueNotSupported -> liftIO $ throwIO $ NXTException "Not supported on this system"
| otherwise -> return ret'
bluetoothAddress :: NXT BTAddress
@@ -1,4 +1,4 @@
-module NXT.Compass (
+module Robotics.NXT.Compass (
Mode(..),
csInit,
csReadByte,
@@ -12,9 +12,7 @@ module NXT.Compass (
import Control.Monad
-import NXT.NXT
-import NXT.Data
-import NXT.Types
+import Robotics.NXT
-- Described in CMPS-Nx-V20-User-Guide.pdf at www.mindsensors.com
@@ -1,4 +1,4 @@
-module NXT.Data (
+module Robotics.NXT.Data (
fromUByte,
fromUWord,
fromULong,
@@ -1,6 +1,6 @@
{-# LANGUAGE DeriveDataTypeable #-}
-module NXT.Errors (
+module Robotics.NXT.Errors (
failNXT,
failNXT',
NXTException(..)
@@ -1,6 +1,7 @@
{-# LANGUAGE ForeignFunctionInterface #-}
+{-# CFILES ffi/initserial.c #-}
-module NXT.NXT (
+module Robotics.NXT.Protocol (
initSerialPort,
defaultDevice,
initialize,
@@ -77,9 +78,9 @@ import System.Posix.Signals
import System.Posix.Types
import Text.Printf
-import NXT.Data
-import NXT.Errors
-import NXT.Types
+import Robotics.NXT.Data
+import Robotics.NXT.Errors
+import Robotics.NXT.Types
-- Described in Lego Mindstorms NXT Bluetooth Developer Kit:
-- Appendix 1 - Communication protocol
@@ -1,4 +1,4 @@
-module NXT.Remote (
+module Robotics.NXT.Remote (
sendRemoteCommand,
startRemoteProgram,
stopRemoteProgram,
@@ -11,12 +11,12 @@ import Control.Monad.State
import Data.Maybe
import Text.Printf
-import NXT.NXT
-import NXT.Types
+import Robotics.NXT
sendRemoteCommand :: RemoteCommand -> NXT ()
sendRemoteCommand = messageWrite Inbox1 . encodeRemoteCommand
+-- TODO: Support also MotorControl messages
encodeRemoteCommand :: RemoteCommand -> String
encodeRemoteCommand (RemoteCommand ports command) =
case command of
@@ -1,6 +1,6 @@
{-# LANGUAGE DeriveDataTypeable #-}
-module NXT.Types where
+module Robotics.NXT.Types where
import Control.Monad.State
import Data.Int
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