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@@ -1,7 +1,62 @@
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+
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(def-newtype time_micros_t sint64_t)
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+
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+-- comments should be haskell style, because we're suing parsec's haskell lexer
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+
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(def-enum armed_t
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((disarmed 0)
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(armed 1)))
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+
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(def-struct heartbeat_t
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((time time_micros_t)
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(armed armed_t)))
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+
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+-- Bug: if you mistype the following, it quits parsing the file at that line
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+-- and does not throw an error.
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+-- (def-newtype some_t sint32)
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+
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+(def-newtype lat_t sint32_t)
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+(def-newtype lon_t sint32_t)
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+
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+-- Todo: allow attaching unit annotations to newtypes. The code generator will
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+-- provide the units as a human readable comment, and/or in some type/unit
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+-- system supported by the host language.
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+-- Todo: allow attaching predicates to newtypes. e.g., lon_t might have some
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+-- type (degrees * 10e-6), some predicate
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+-- (lambda (v) (and (gt v -180000000) (lte v 180000000)))
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+
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+(def-newtype meters_t float_t)
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+
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+(def-struct coordinate_t
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+ ((lat lat_t)
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+ (lon lon_t)
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+ (alt meters_t)))
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+
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+-- Todo: the following interface syntax and semantics are a strawman.
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+-- Interfaces have methods that are either streams or attrs.
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+-- attrs take a parameter for access control.
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+-- streams take a parameter for their default period in hz (none should default
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+-- to zero). they also implicitly define an attr $(steamname)-stream-rate,
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+-- which permits changing the stream rate at runtime.
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+
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+(def-interface vehicle
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+ ((heartbeat (stream 10 heartbeat_t))))
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+
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+-- Interfaces implement java-style inheritance. No shadowing of inherited method
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+-- names permitted.
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+
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+(def-interface controllable-vehicle
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+ ((current_waypoint (attr read waypoint_t))
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+ (next_waypoint (attr readwrite waypoint_t)))
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+ (vehicle)) -- Inherits from interface vehicle
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+
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+-- The idea here is that, when negotiating a gidl connection, the client can
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+-- specify or negotiate what interface is supported.
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+-- this may be communicated by just sending the string name, or potentially by
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+-- sending the entire serialized schema. At very least, the client and server
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+-- should check agreement of their type schemas, probably by having the client
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+-- send a sha1-hash of the serialized type schema.
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+-- This allows us to specify various kinds of vehicles might exist without
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+-- repeating ourselves, and provides a way to
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+-- manage new functionality without breaking legacy code.
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+
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Pat Hickey