Adds Haskell Bindings

.travis.yml

@@ -2,6 +2,10 @@ language: generic
 sudo: required
 dist: trusty
 
+cache:
+  directories:
+  - $HOME/.stack
+
 matrix:
   fast_finish: true
 
@@ -48,6 +52,10 @@ before_install:
   - export CC=${CCOMPILER} CXX=${CXXCOMPILER}
   - if [[ "${TRAVIS_OS_NAME}" == "linux" ]]; then sudo update-alternatives --install /usr/bin/node node /usr/bin/nodejs 10; fi
   - if [[ "${TRAVIS_OS_NAME}" == "osx" ]]; then brew update && brew install python3; fi
+  - mkdir -p ~/.local/bin
+  - export PATH=$HOME/.local/bin:$PATH
+  - if [[ "${TRAVIS_OS_NAME}" == "linux" ]]; then travis_retry curl -L https://www.stackage.org/stack/linux-x86_64 | tar xz --wildcards --strip-components=1 -C ~/.local/bin '*/stack'; fi
+  - if [[ "${TRAVIS_OS_NAME}" == "osx" ]]; then travis_retry curl -L https://www.stackage.org/stack/osx-x86_64 | tar xz --wildcards --strip-components=1 -C ~/.local/bin '*/stack'; fi
 
 install:
   # Make sure building libsweep works
@@ -67,6 +75,10 @@ install:
   - sudo python2 setup.py install
   - sudo python3 setup.py install
   - popd
+  # Build Haskell bindings
+  - pushd sweephs
+  - stack --no-terminal --install-ghc build
+  - popd
 
 script:
   # Test libsweep examples against the dummy library
@@ -87,3 +99,7 @@ script:
   - pushd sweepjs
   - npm install
   - popd
+  # Test Haskell bindings against dummy library
+  - pushd sweephs
+  - stack --no-terminal exec -- sweephs-exe "/dev/ttyUSB0"
+  - popd

sweephs/.gitignore

@@ -0,0 +1 @@
+.stack-work

sweephs/LICENSE

@@ -0,0 +1,30 @@
+Copyright Daniel J. Hofmann (c) 2017
+
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+
+    * Redistributions in binary form must reproduce the above
+      copyright notice, this list of conditions and the following
+      disclaimer in the documentation and/or other materials provided
+      with the distribution.
+
+    * Neither the name of Daniel J. Hofmann nor the names of other
+      contributors may be used to endorse or promote products derived
+      from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
+A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
+OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
+SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
+LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
+DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
+THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

sweephs/README.md

@@ -0,0 +1,39 @@
+# SweepHs
+
+Haskell Scanse Sweep LiDAR library.
+
+Requires `libsweep.so` to be installed.
+
+### Todo
+
+- [ ] Look into `ForeignPtr` vs `Ptr`
+- [ ] Look into `bracket` and `CondT`
+- [ ] Level up: `resourceT`
+- [ ] Level up: `conduit`
+
+### Installation
+
+```bash
+stack setup
+stack build
+```
+
+### Example for testing
+
+```bash
+stack exec -- sweephs-exe
+```
+
+### Example for testing
+
+In the following, replace `/dev/ttyUSB0` with your device's port name. This executes [`__main__.py`](sweeppy/__main__.py) (also works without the installation step).
+
+```bash
+python -m sweeppy /dev/ttyUSB0
+```
+
+### License
+
+Copyright © 2017 Daniel J. Hofmann
+
+Distributed under the MIT License (MIT).

sweephs/Setup.hs

@@ -0,0 +1,2 @@
+import Distribution.Simple
+main = defaultMain

sweephs/app/Main.hs

@@ -0,0 +1,42 @@
+module Main where
+
+import Lib
+import Control.Monad
+import System.Environment
+import Foreign.C.String
+
+main :: IO ()
+main = do
+  args <- getArgs
+  guard $ not $ null args
+  let dev = head args
+
+  version <- getVersion
+  print version
+
+  compatible <- isAbiCompatible
+  print compatible
+
+  let errorPtr = noErrorPtr
+
+  device <- withCString dev $ flip deviceConstructSimple errorPtr
+
+  checkError errorPtr >>= print
+
+  startScanning device errorPtr
+  checkError errorPtr >>= print
+
+  scan <- getScan device errorPtr
+  checkError errorPtr >>= print
+
+  samples <- getSamples scan
+  print samples
+
+  void $ scanDestruct scan
+
+  stopScanning device errorPtr
+  checkError errorPtr >>= print
+
+  void $ deviceDestruct device
+
+  return ()

sweephs/src/Lib.hs

@@ -0,0 +1,111 @@
+{-# LANGUAGE ForeignFunctionInterface #-}
+{-# LANGUAGE DeriveAnyClass #-}
+
+module Lib
+    ( getVersion
+    , isAbiCompatible
+    , Error
+    , noErrorPtr
+    , checkError
+    , errorDestruct
+    , Device
+    , deviceConstructSimple
+    , deviceDestruct
+    , startScanning
+    , stopScanning
+    , getScan
+    , scanDestruct
+    , getSamples
+    ) where
+
+import Foreign.C
+import Foreign.Ptr
+import Foreign.Storable
+
+
+-- ABI
+
+foreign import ccall unsafe "sweep_get_version"
+    getVersion :: IO CInt
+
+foreign import ccall unsafe "sweep_is_abi_compatible"
+    isAbiCompatible :: IO CInt
+
+-- Errors
+--
+
+newtype Error = Error (Ptr Error)
+  deriving (Storable)
+
+foreign import ccall unsafe "sweep_error_message"
+    errorMessage :: Error -> IO CString
+
+foreign import ccall unsafe "sweep_error_destruct"
+    errorDestruct :: Error -> IO ()
+
+noErrorPtr :: Ptr Error
+noErrorPtr = nullPtr
+
+checkError :: Ptr Error -> IO (Maybe String)
+checkError errorPtr = do
+  if errorPtr == noErrorPtr then
+    pure $ Nothing
+  else
+    fmap Just (peek errorPtr >>= errorMessage >>= peekCString)
+
+
+-- Device
+
+newtype Device = Device (Ptr Device)
+
+foreign import ccall unsafe "sweep_device_construct_simple"
+    deviceConstructSimple :: CString -> Ptr Error -> IO Device
+
+foreign import ccall unsafe "sweep_device_destruct"
+    deviceDestruct :: Device -> IO ()
+
+foreign import ccall unsafe "sweep_device_start_scanning"
+    startScanning :: Device -> Ptr Error -> IO ()
+
+foreign import ccall unsafe "sweep_device_stop_scanning"
+    stopScanning :: Device -> Ptr Error -> IO ()
+
+foreign import ccall unsafe "sweep_device_get_scan"
+    getScan :: Device -> Ptr Error -> IO Scan
+
+-- Scan
+
+newtype Scan = Scan (Ptr Scan)
+
+data Sample = Sample
+  { sampleAngle    :: Int
+  , sampleDistance :: Int }
+  deriving(Show, Eq)
+
+foreign import ccall unsafe "sweep_scan_destruct"
+    scanDestruct :: Scan -> IO ()
+
+foreign import ccall unsafe "sweep_scan_get_number_of_samples"
+    getNumberOfSamples :: Scan -> IO CInt
+
+foreign import ccall unsafe "sweep_scan_get_angle"
+    getAngle :: Scan -> CInt -> IO CInt
+
+foreign import ccall unsafe "sweep_scan_get_distance"
+    getDistance :: Scan -> CInt -> IO CInt
+
+getSamples :: Scan -> IO [Sample]
+getSamples scan = do
+  n <- getNumberOfSamples scan
+
+  let samples = [0..n-1]
+
+  sequence $ flip fmap samples (\ v -> do
+    let convert = fromInteger . toInteger
+
+    angle    <- getAngle    scan v
+    distance <- getDistance scan v
+
+    pure $ Sample { sampleAngle    = convert angle
+                  , sampleDistance = convert distance })
+

sweephs/stack.yaml

@@ -0,0 +1,66 @@
+# This file was automatically generated by 'stack init'
+#
+# Some commonly used options have been documented as comments in this file.
+# For advanced use and comprehensive documentation of the format, please see:
+# http://docs.haskellstack.org/en/stable/yaml_configuration/
+
+# Resolver to choose a 'specific' stackage snapshot or a compiler version.
+# A snapshot resolver dictates the compiler version and the set of packages
+# to be used for project dependencies. For example:
+#
+# resolver: lts-3.5
+# resolver: nightly-2015-09-21
+# resolver: ghc-7.10.2
+# resolver: ghcjs-0.1.0_ghc-7.10.2
+# resolver:
+#  name: custom-snapshot
+#  location: "./custom-snapshot.yaml"
+resolver: lts-8.22
+
+# User packages to be built.
+# Various formats can be used as shown in the example below.
+#
+# packages:
+# - some-directory
+# - https://example.com/foo/bar/baz-0.0.2.tar.gz
+# - location:
+#    git: https://github.com/commercialhaskell/stack.git
+#    commit: e7b331f14bcffb8367cd58fbfc8b40ec7642100a
+# - location: https://github.com/commercialhaskell/stack/commit/e7b331f14bcffb8367cd58fbfc8b40ec7642100a
+#   extra-dep: true
+#  subdirs:
+#  - auto-update
+#  - wai
+#
+# A package marked 'extra-dep: true' will only be built if demanded by a
+# non-dependency (i.e. a user package), and its test suites and benchmarks
+# will not be run. This is useful for tweaking upstream packages.
+packages:
+- '.'
+# Dependency packages to be pulled from upstream that are not in the resolver
+# (e.g., acme-missiles-0.3)
+extra-deps: []
+
+# Override default flag values for local packages and extra-deps
+flags: {}
+
+# Extra package databases containing global packages
+extra-package-dbs: []
+
+# Control whether we use the GHC we find on the path
+# system-ghc: true
+#
+# Require a specific version of stack, using version ranges
+# require-stack-version: -any # Default
+# require-stack-version: ">=1.3"
+#
+# Override the architecture used by stack, especially useful on Windows
+# arch: i386
+# arch: x86_64
+#
+# Extra directories used by stack for building
+# extra-include-dirs: [/path/to/dir]
+# extra-lib-dirs: [/path/to/dir]
+#
+# Allow a newer minor version of GHC than the snapshot specifies
+# compiler-check: newer-minor

sweephs/sweephs.cabal

@@ -0,0 +1,45 @@
+name:                sweephs
+version:             0.1.0.0
+synopsis:            Haskell bindings for the Sweep LiDAR
+description:         Haskell bindings for the Sweep LiDAR low-level libsweep: <https://github.com/scanse/sweep-sdk>
+homepage:            https://github.com/daniel-j-h/sweephs#readme
+license:             BSD3
+license-file:        LICENSE
+author:              Daniel J. Hofmann
+maintainer:          [email protected]
+copyright:           Daniel J. Hofmann
+category:            Hardware
+build-type:          Simple
+extra-source-files:  README.md
+cabal-version:       >=1.10
+extra-source-files:
+  README.md
+
+library
+  hs-source-dirs:      src
+  exposed-modules:     Lib
+  build-depends:       base >= 4.7 && < 5
+  default-language:    Haskell2010
+  ghc-options:         -Wall
+  extra-libraries:     sweep
+
+executable sweephs-exe
+  hs-source-dirs:      app
+  main-is:             Main.hs
+  ghc-options:         -Wall -threaded -rtsopts -with-rtsopts=-N
+  build-depends:       base
+                     , sweephs
+  default-language:    Haskell2010
+
+test-suite sweephs-test
+  type:                exitcode-stdio-1.0
+  hs-source-dirs:      test
+  main-is:             Spec.hs
+  build-depends:       base
+                     , sweephs
+  ghc-options:         -threaded -rtsopts -with-rtsopts=-N
+  default-language:    Haskell2010
+
+source-repository head
+  type:     git
+  location: https://github.com/daniel-j-h/sweephs

sweephs/test/Spec.hs

@@ -0,0 +1,2 @@
+main :: IO ()
+main = putStrLn "Test suite not yet implemented"