+% VimTeX: SynIgnore on
+\begin{lstClean}[label={lst:mtask_itasksds_lens},caption={Lens applied to lifted \gls{ITASK} \glspl{SDS} in \gls{MTASK}.}]
+lens :: (Shared sds a) -> MTLens | type a & RWShared sds
+lens sds = mapReadWriteError
+ ( \r-> Ok (fromString (toByteCode{|*|} r)
+ , \w r-> ?Just <$> iTasksDecode (toString w)
+ ) ?None sds
+\end{lstClean}
+% VimTeX: SynIgnore off
+
+\Cref{lst:mtask_itasksds_lift} shows the code for the implementation of \cleaninline{liftsds} that uses the \cleaninline{lens} function shown earlier.
+First, the \gls{SDS} to be lifted is extracted from the expression by bootstrapping the fixed point with a dummy value.
+This is safe because the expression on the right-hand side of the \cleaninline{In} is never evaluated.
+Then, using \cleaninline{addSdsIfNotExist}, the identifier for this particular \gls{SDS} is either retrieved from the compiler state or generated freshly.
+This identifier is then used to provide a reference to the \cleaninline{def} definition to evaluate the main expression.
+
+% VimTeX: SynIgnore on
+\begin{lstClean}[label={lst:mtask_itasksds_lift},caption={Lens applied to lifted \gls{ITASK} \glspl{SDS} in \gls{MTASK}.}]
+ liftsds def = {main =
+ let (t In _) = def (abort "liftsds: expression too strict")
+ in addSdsIfNotExist (Right $ lens t)
+ >>= \sdsi->let (_ In e) = def (pure (Sds sdsi)) in e.main
+ }\end{lstClean}
+% VimTeX: SynIgnore off
+
+\section{Home automation}
+This section presents a interactive home automation program (\Cref{lst:example_home_automation}) to illustrate \gls{MTASK}'s integration with \gls{ITASK}.
+It consists of a web interface for the user to control which tasks may be executed on either of two connected devices: an \gls{ARDUINO} UNO, connected via a serial port; and an ESP8266 based prototyping board called NodeMCU, connected via \gls{TCP} over WiFi.
+
+\Crefrange{lst:example:spec1}{lst:example:spec2} show the specification for the devices.
+The UNO is connected via serial using the unix filepath \path{/dev/ttyACM0} and the default serial port settings.
+The NodeMCU is connected via WiFi and hence the \cleaninline{TCPSettings} record is used.
+Both types have \cleaninline{channelSync} instances.
+
+The code consists of an \gls{ITASK} part and several \gls{MTASK} parts.
+\Crefrange{lst:example:task1}{lst:example:task2} containing the \gls{ITASK} task that coordinates the \gls{IOT} application.
+It first connects the devices (\crefrange{lst:example:conn1}{lst:example:conn2}) followed by launching a \cleaninline{parallel} task, visualized as a tabbed window, and a shutdown button to terminate the program (\crefrange{lst:example:par1}{lst:example:par2}).
+This parallel task is the controller of the tasks that run on the edge devices.
+It contains one task that allows adding new tasks (using \cleaninline{appendTask}) and all other tasks in the process list will be \gls{MTASK} tasks once they are added by the user.
+The controller task, \cleaninline{chooseTask} as shown in \crefrange{lst:example:ct1}{lst:example:ct2}, allows the user to pick a task, sending it to the specified device.
+Tasks are picked by index from the \cleaninline{tasks} list (\crefrange{lst:example:tasks1}{lst:example:tasks2}) using \cleaninline{enterChoice}.
+The interface that is generated for this can be seen in \cref{fig:example_screenshots1}.
+After selecting the task, a device is selected (see \cref{fig:example_screenshots2,lst:example:selectdev}).
+When both a task and a device is selected, an \gls{ITASK} task is added to the process list using \cleaninline{appendTask}.
+Using the helper function \cleaninline{mkTask}, the actual task is selected from the \cleaninline{tasks} list and executed by providing the device argument.
+For example, when selecting the \cleaninline{temperature} task, the current temperature is shown to the user (\cref{fig:example_screenshots3}).
+This task just sends a simple temperature monitoring task to the device using \cleaninline{liftmTask} and provides a view on its task value using the \cleaninline{>\&>}\footnotemark{} \gls{ITASK} combinator.
+\footnotetext{\cleaninline{(>\&>) infixl 1 :: (Task a) ((SDSLens () (? a) ()) -> Task b) -> Task b \| iTask a \& iTask b}}
+The light switch task at \crefrange{lst:example:ls1}{lst:example:ls2} is a task that has bidirectional interaction using the definition of \cleaninline{lightswitch} shown in \cref{lst:mtask_liftsds_ex}.
+Using \cleaninline{liftsds}, the status of the light switch is synchronised with the user.
+The task on the edge device continuously monitors the value of the lifted \gls{SDS}.
+If it is different from the current state, the new value is written to the digital \gls{GPIO} pin 13 and the monitoring function is recursively called.
+
+\begin{figure}[ht]
+ \centering
+ \begin{subfigure}[b]{.3\linewidth}
+ \includegraphics[width=\linewidth]{home_auto1}
+ \caption{Select task.}%
+ \label{fig:example_screenshots1}
+ \end{subfigure}
+ \begin{subfigure}[b]{.3\linewidth}
+ \includegraphics[width=\linewidth]{home_auto2}
+ \caption{Select device.}%
+ \label{fig:example_screenshots2}
+ \end{subfigure}
+ \begin{subfigure}[b]{.3\linewidth}
+ \includegraphics[width=\linewidth]{home_auto3}
+ \caption{View result.}%
+ \label{fig:example_screenshots3}
+ \end{subfigure}
+ \caption{Screenshots of the home automation example program in action.}%
+ \label{fig:example_screenshots}
+\end{figure}
+
+\begin{figure}
+ \cleaninputlisting[firstline=12,lastline=50,numbers=left,belowskip=0pt,escapeinside={/*}{*/}]{lst/example.icl}
+ \begin{lstClean}[numbers=left,firstnumber=40,aboveskip=0pt,caption={An example of a home automation program.},label={lst:example_home_automation}]
+ , ...][+\label{lst:example:tasks2}+]\end{lstClean}
+\end{figure}
+
+\section{Conclusion}
+\Gls{MTASK} edge devices run little \gls{TOP} engines of their own.
+Using only a couple of \gls{ITASK} functions, \gls{MTASK} tasks can be integrated in \gls{ITASK} seamlessly.
+Devices, using any supported type of connection, are integrated in \gls{ITASK} using the \cleaninline{withDevice} function.
+Once connected, \gls{MTASK} tasks can be sent to the device for execution using \cleaninline{liftmTask}, lifting them to full-fledged \gls{ITASK} tasks.
+Furthermore, the \gls{MTASK} tasks can interact with \gls{ITASK} \glspl{SDS} using the \cleaninline{liftsds} construct.
+This together allows entire \gls{IOT} systems to be programmed from a single source.