\end{itemize}
\end{chapterabstract}
-\todo[inline]{Brackets upright in listings?}
-This dissertation is about orchestrating \gls{IOT} systems harmlessly and efficiently.
-\todo{beter?}
+This dissertation is about orchestrating \gls{IOT} systems safely and efficiently.
There are at least 13.4 billion devices connected to the internet at the time of writing \citep{transforma_insights_current_2023}.
Each of these devices sense, act, or otherwise, interact with people, computers, and the environment.
Despite their immense diversity, they are all computers and they all require software to operate.
Examples of this are BLE, LoRa, ZigBee, and LTE-M as a communication protocol for connecting the perception layer to the application layer using \gls{IOT} transport protocols such as \gls{MQTT}.
Protocols such as HTTP, AJAX, and WebSocket connecting the presentation layer to the application layer that are designed for the use in web applications.
-\todo[inline]{Hier enkele zinnen over maintainability}
-Across the layers, the devices are a large heterogeneous collection of different platforms, protocols, paradigms, and programming languages often resulting in impedance problems or semantic friction between layers when programming \citep{ireland_classification_2009}.
+Across the layers, the devices are a large heterogeneous collection of different platforms, protocols, paradigms, and programming languages.
+As a result, impedance problems or semantic friction occurs between layers and the maintainability is severely hampered \citep{ireland_classification_2009}.
Even more so, the perception layer itself is often a heterogeneous collection of microcontrollers in itself, each having their own peculiarities, programming language of choice, and hardware interfaces.
As edge hardware needs to be cheap, small scale, and energy efficient, the microcontrollers used to power them do not have a lot of computational power, only a smidge of memory, and little communication bandwidth.
Typically, these devices are unable to run a full-fledged general-purpose \gls{OS}.
\Citet{tratt_domain_2008} applies a notion from metaprogramming \citep{sheard_accomplishments_2001} to \glspl{EDSL} to define homogeneity and heterogeneity of \glspl{EDSL} as follows:
\begin{quote}
- \emph{A homogeneous system is one where all the components are specifically designed to work with each other, whereas in heterogeneous systems at least one of the components is largely, or completely, ignorant of the existence of the other parts of the system.
-}
+ \emph{A homogeneous system is one where all the components are specifically designed to work with each other, whereas in heterogeneous systems at least one of the components is largely, or completely, ignorant of the existence of the other parts of the system.}
\end{quote}
Homogeneous \glspl{EDSL} are languages that are solely defined as an extension to their host language.
The \gls{UOD} is explicitly and separately modelled by the data types and relations that exist in the functions of the host language.
\end{description}
-\Cref{fig:tosd} differs from the presented \gls{IOT} architecture shown in \cref{fig:iot-layers} because they represent different concepts.
+\Cref{fig:tosd} differs from the presented \gls{IOT} architecture shown in \cref{fig:iot-layers} because it represents different concepts.
The \gls{IOT} architecture is an execution architecture whereas \gls{TOSD} is a software development model.
E.g.\ from a software development perspective, a task is a task, whether it is executed on a microcontroller, a server, or a client.
Only when a task is executed, the location of the execution becomes important, but this is taken care of by the system.
Firstly, edge devices can be seen as simple resources, thus accessed through \glspl{SDS}.
The second view is that edge devices contain miniature \gls{TOP} systems in itself.
The individual components in the miniature systems, the tasks, the \glspl{SDS}, are, in the eventual execution, connected to the main system.
-\todo{hier plaatje uit 6?: nee}
\subsection{The iTask system}
-The concept of \gls{TOP} originated from the \gls{ITASK} framework, a declarative language and \gls{TOP} engine for defining interactive multi-user distributed web applications.
-The \gls{ITASK} system is implemented as an \gls{EDSL} in the programming language \gls{CLEAN}\footnote{\Cref{chp:clean_for_haskell_programmers} contains a guide for \gls{CLEAN} tailored to \gls{HASKELL} programmers.} \citep{plasmeijer_itasks:_2007,plasmeijer_task-oriented_2012}.
-It is under development for over fifteen years and has proven itself through use in industry for some time now as well.
+The concept of \gls{TOP} originated from the \gls{ITASK} framework, a declarative \gls{TOP} language for defining interactive distributed web applications.
+The \gls{ITASK} system is implemented as an \gls{EDSL} in the programming language \gls{CLEAN} \citep{plasmeijer_itasks:_2007,plasmeijer_task-oriented_2012}\footnote{\Cref{chp:clean_for_haskell_programmers} contains a guide for \gls{CLEAN} tailored to \gls{HASKELL} programmers.}.
+It is under development for over fifteen years and has proven itself through use in industry as well.
For example, it is the main language of VIIA, an advanced application for monitoring coasts \citep{top_software_viia_2023}.
-From the structural properties of the data types and the current status of the work to be done, the entire \gls{UI} is automatically generated.
Browsers are powering \gls{ITASK}'s presentation layer.
-The framework is built on top of standard web techniques such as JavaScript, HTML, and {CSS}.
The browser runs the actual \gls{ITASK} code using an interpreter that operates on \gls{CLEAN}'s intermediate language \gls{ABC} \citep{staps_lazy_2019}.
+It is built on top of standard web techniques such as JavaScript, HTML, and {CSS}.
+From the structural properties of the data types and the current status of the work to be done, the \gls{UI} and all interaction is automatically generated.
Tasks in \gls{ITASK} have either \emph{no value}, an \emph{unstable} or a \emph{stable} task value.
For example, an editor for filling in a form initially has no value.
-Once the user entered a complete value, its value becomes an unstable value, it can still be changed or even reverted to no value by emptying the editor again.
+Once the user enters a complete value, its value becomes an unstable value.
+It can still be changed or even reverted to no value by emptying the editor again.
Only when for example a continue button is pressed, a task value becomes stable, fixing its value.
The allowed task value transitions are shown in \cref{fig:taskvalue}.
-\begin{figure}
+\begin{figure}[p]
\centering
\includestandalone{taskvalue}
\caption{Transition diagram for task values in \gls{ITASK}.}%
As an example, \cref{lst:todo,fig:todo} show the code and \gls{UI} for an interactive to-do list application.
The user modifies a shared to-do list through an editor directly or using some predefined actions.
Furthermore, in parallel, the length of the list is shown to demonstrate \glspl{SDS}.
-Using \gls{ITASK}, complex collaborations of users and tasks can be described on a high level.
+Using \gls{ITASK}, complex collaborations of users and tasks are described on a high level.
+In this way, the \gls{ITASK} system is a tierless system taking care of both the presentation and application layer (see \cref{fig:iot-layers}).
-From the data type definitions (\cref{lst:todo_dt}), using generic programming (\cref{lst:todo_derive}), the \glspl{UI} for the data types are automatically generated.
-Then, using the parallel task combinator (\cleaninline{-\|\|}) the task for updating the to-dos (\cref{lst:todo_update}) and the task for viewing the length are combined (\cref{lst:todo_length}, shown as \emph{Length: 2} in the bottom of the image).
-This particular parallel combinator uses the result of the left-hand side task.
-Both tasks operate on the to-do \gls{SDS} (\cref{lst:todo_sds}).
-The task for updating the to-do list is an editor (\cref{lst:todo_editor}) combined using a step combinator (\crefrange{lst:todo_contfro}{lst:todo_contto}).
-The actions either change the value, sorting or clearing it, or terminate the task by returning the current value of the \gls{SDS}, visualised as three buttons on the bottom right of the \gls{UI}.
-Special combinators (e.g.\ \cleaninline{@>>} at \cref{lst:todo_ui}) are used to tweak the \gls{UI} to display informative labels.
-\todo[inline]{Zou je hier niet zeggen dat dit iTask programma de Presentation en Application layer uit Figure 1.1 maakt door dezelfde code in de browser en op de server te runnen en alle netwerkdingen te genereren? Dat is hier wel niet erg nodig. Maar geeft je wel het opstapje om in 1.4.2.\ te zeggen dat de edge devices die wij willen gebruiken dat niet kunnen. Deze paragraaf kan ook in 1.4.2.}
-
-\cleaninputlisting[float=,firstline=6,lastline=22,tabsize=3,numbers=left,caption={The code for a shared to-do list in \gls{ITASK}.},label={lst:todo}]{lst/sharedlist.icl}
+\cleaninputlisting[float=p,firstline=6,lastline=22,tabsize=3,numbers=left,caption={The code for a shared to-do list in \gls{ITASK}.},label={lst:todo}]{lst/sharedlist.icl}
-\begin{figure}
+\begin{figure}[p]
\centering
- \includegraphics[width=\linewidth]{todo0g}
+ \includegraphics[width=.8\linewidth]{todo0g}
\caption{The \gls{UI} for the shared to-do list in \gls{ITASK}.}%
\label{fig:todo}
\end{figure}
+From the data type definitions (\cref{lst:todo_dt}), using generic programming (\cref{lst:todo_derive}), the \glspl{UI} for the data types are automatically generated.
+Then, using the parallel task combinator (\cleaninline{-\|\|}) the task for updating the to-dos (\cref{lst:todo_update}) and the task for viewing the length are combined (\cref{lst:todo_length}, shown as \emph{Length: 2} in the bottom of the figure).
+This particular parallel combinator uses the result of the left-hand side task.
+Both tasks operate on the to-do \gls{SDS} (\cref{lst:todo_sds}).
+The task for updating the to-do list is an editor (\cref{lst:todo_editor}) combined using a step combinator (\crefrange{lst:todo_contfro}{lst:todo_contto}).
+The actions either change the value, sorting or clearing it, or terminate the task by returning the current value of the \gls{SDS}, visualised as three buttons on the bottom right of the \gls{UI}.
+Special combinators (e.g.\ \cleaninline{@>>} at \cref{lst:todo_ui}) are used to tweak the \gls{UI} and display informative labels.
+
\subsection{The mTask system}
The work for \gls{IOT} edge devices can often be succinctly described by \gls{TOP} programs.
Software on microcontrollers is usually composed of smaller basic tasks, are interactive, and share data with other components or the server.
The \gls{ITASK} system seems an obvious candidate for bringing \gls{TOP} to \gls{IOT} edge devices.
-However, an \gls{ITASK} application contains many features that are not needed on \emph{edge devices} such as higher-order tasks, support for a distributed architecture, or a multi-user web server.
-\todo[inline]{Dat is op zich toch niet zo'n probleem. Een iTAsk server heeft ook geen GUI, maar wel alle iTask code om die te maken.
-Het feit dat dit niet hoeft op een edge device geeft je wel een van de handvatten om mTask in minder memory te runnen}
+However, an \gls{ITASK} application contains many features that are not needed on \emph{edge devices} such as higher-order tasks, support for a distributed architecture, a multi-user web server, and facilities to generate \glspl{GUI} for any user-defined type.
Furthermore, \gls{IOT} edge devices are in general not powerful enough to run or interpret \gls{CLEAN}\slash\gls{ABC} code, they just lack the processor speed and memory.
To bridge this gap, \gls{MTASK} is developed, a domain-specific \gls{TOP} system for \gls{IOT} edge devices that is integrated in \gls{ITASK} \citep{koopman_task-based_2018}.
The \gls{ITASK} language abstracts away from details such as user interfaces, data storage, client-side platforms, and persistent workflows.
The \gls{MTASK} device is connected using \cleaninline{withDevice} at \cref{lst:intro_withdevice}.
Once connected, the \cleaninline{intBlink} task is sent to the device (\cref{lst:intro_liftmtask}) and, in parallel, a web editor is shown that updates the value of the interval \gls{SDS} (\cref{lst:intro_editor,fig:intro_blink_int}).
To allow terminating of the task, the \gls{ITASK} task ends with a sequential operation that returns a constant value when the button is pressed, making the task stable.
-\todo[inline]{foto device+led?}
-\todo[inline]{enterDevice nieuwe regel, globale func?}
-\cleaninputlisting[float={!ht},firstline=10,lastline=18,numbers=left,caption={The \gls{ITASK} code for the interactive blinking application.},label={lst:intro_blink}]{lst/blink.icl}
+\cleaninputlisting[float={!ht},firstline=10,lastline=19,numbers=left,caption={The \gls{ITASK} code for the interactive blinking application.},label={lst:intro_blink}]{lst/blink.icl}
\begin{figure}
\centering
This function on \crefrange{lst:intro:blink_fro}{lst:intro:blink_to} first reads the interval \gls{SDS}, waits the specified delay, writes the state to the \gls{GPIO} pin, and calls itself recursively using the inverse of the state in order to run continuously.
The \cleaninline{>>\|.} operator denotes the sequencing of tasks in \gls{MTASK}.
-\cleaninputlisting[float={!ht},linerange={23-,25-33},numbers=left,caption={The \gls{MTASK} code for the interactive blinking application.},label={lst:intro_blink_mtask}]{lst/blink.icl} %chktex 8
-\todo[inline]{Meer wit rondom =jes, doornummeren?}
+\cleaninputlisting[linerange={24-,26-34},firstnumber=11,numbers=left,caption={The \gls{MTASK} code for the interactive blinking application.},label={lst:intro_blink_mtask}]{lst/blink.icl} %chktex 8
\subsection{Other TOP languages}
While \gls{ITASK} conceived \gls{TOP}, it is no longer the only \gls{TOP} system.
Finally, there are \gls{TOP} languages with strong academic foundations.
\Gls{TOPHAT} is a fully formally specified \gls{TOP} language designed to capture the essence of \gls{TOP} \citep{steenvoorden_tophat_2019}.
Such a formal specification allows for symbolic execution, hint generation, but also the translation to \gls{ITASK} for actually performing the work \citep{steenvoorden_tophat_2022}.
-\Citeauthor{steenvoorden_tophat_2022} distinguishes two instruments for \gls{TOP}: \gls{TOP} languages and \gls{TOP} engines.
-The language is the \emph{formal} language for specifying interactive systems.
-The engine is the software or hardware that executes these specifications as a ready-for-work application.
-\todo[inline]{Noemen dat een vergelijkbare semantics voor mTask under construction is met een verwijzing naar de thesis van Elina?}
+%\Citeauthor{steenvoorden_tophat_2022} distinguishes two instruments for \gls{TOP}: \gls{TOP} languages and \gls{TOP} engines.
+%The language is the \emph{formal} language for specifying interactive systems.
+%The engine is the software or hardware that executes these specifications as a ready-for-work application.
+%Defining comparable semantics for the \gls{MTASK} language is in progress \citep{antonova_mtask_2022}.
\section{Contributions}%
\label{sec:contributions}
\subsection{\Fullref{prt:dsl}}
The \gls{MTASK} system is an \gls{EDSL} and during the development of it, several novel basal techniques for embedding \glspl{DSL} in \gls{FP} languages have been found.
This paper-based episode contains the following papers:
-\todo{papers met bibitem doen? of conferentie noemen.}
\begin{enumerate}
\item \emph{Deep Embedding with Class} \citep*{lubbers_deep_2022} is the basis for \cref{chp:classy_deep_embedding}.
It shows a novel deep embedding technique for \glspl{DSL} where the resulting language is extendible both in constructs and in interpretation just using type classes and existential data types.
The related work section is updated with the research found after publication.
\Cref{sec:classy_reprise} was added after publication and contains a (yet) unpublished extension of the embedding technique for reducing the required boilerplate at the cost of requiring some advanced type system extensions.
+ The paper was published at the \tfp{} 2022 in Krakow, Poland (moved to online).
\item \emph{First-\kern-1ptClass Data Types in Shallow Embedded Domain-Specific Languages} \citep*{lubbers_first-class_2022}\label{enum:first-class} is the basis for \cref{chp:first-class_datatypes}.
It shows how to inherit data types from the host language in \glspl{EDSL} using metaprogramming by providing a proof-of-concept implementation using \gls{HASKELL}'s metaprogramming system: \glsxtrlong{TH}.
The chapter also serves as a gentle introduction to, and contains a thorough literature study on \glsxtrlong{TH}.
+ The paper was published at the \ifl{} 2022 in Kopenhagen, Denmark.
\end{enumerate}
-%\paragraph{In preparation}
-%Furthermore, there are some papers either in preparation or under review describing methods for creating \glspl{DSL}.
-%They describe techniques found while developing the \gls{MTASK} \gls{DSL} that have not made it (yet) into the system.
-%Hence, they are not part of the dissertation.
-%
-%\begin{itemize}
-% \item \emph{Strongly-Typed Multi-\kern-2ptView Stack-\kern-1.25ptBased Computations} shows how to create type-safe \glspl{EDSL} representing stack-based computations.
-% Instead of encoding the arguments to a function as arguments in the host language, stack-based approaches use a run time stack that contains the arguments.
-% By encoding the required contents of the stack in the types, such systems can be made type safe.
-%
-% \item \emph{Template Metaprogramming using Two-Stage Generic Functions} shows how a sufficiently rich generic programming system can achieve much of the same functionality as template metaprogramming.
-% The generic programming functionality of \gls{Clean} is built into the compiler.
-% As a result, metadata of the generic types is added to the generic structure.
-% From this metadata, we can destill not only type and constructor names but also arities, fixity, kinds, types, \etc{}.
-% This allows us, by
-%\end{itemize}
-
\paragraph{Contribution:}
The papers are written by me, there were weekly meetings with co-authors in which we discussed and refined the ideas.
\item \emph{A Task-\kern-1.25ptBased \glsxtrshort{DSL} for Microcomputers} \citep*{koopman_task-based_2018}
is the initial \gls{TOP}\slash{}\gls{MTASK} paper.
It provides an overview of the initial \gls{TOP} \gls{MTASK} language and shows first versions of some interpretations.
+ The paper was published at the \rwdsl{} 2018 in Vienna, Austria.
\item \emph{Task Oriented Programming for the Internet of Things} \citep*{lubbers_task_2018}\footnote{This work is an extension of my Master's thesis \citep{lubbers_task_2017}.}
shows how a simple imperative variant of \gls{MTASK} was integrated with \gls{ITASK}.
While the language differs a lot from the current version, the integration mechanism is still used.
-% \paragraph{Contribution}
-% The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer in which we discussed and refined the ideas.
+ The paper was published at the \ifl{} 2018 in Lowell, MA, {USA}.
\item \emph{Multitasking on Microcontrollers using Task Oriented Programming} \citep*{lubbers_multitasking_2019}\footnote{This work acknowledges the support of the \erasmusplus{} project ``Focusing Education on Composability, Comprehensibility and Correctness of Working Software'', no.\ 2017--1--SK01--KA203--035402.}
is a short paper on the multitasking capabilities of \gls{MTASK} comparing it to traditional multitasking methods for \gls{ARDUINO}.
-% \paragraph{Contribution}
-% The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer.
+
+ The paper was published at the \fcows{} 2019 in Opatija, Croatia.
\item \emph{Simulation of a Task-\kern-1.25ptBased Embedded Domain Specific Language for the Internet of Things} \citep*{koopman_simulation_2023}\footnotemark[\value{footnote}]
are the revised lecture notes for a course on the \gls{MTASK} simulator provided at the 2018 \gls{3COWS} winter school in Ko\v{s}ice, Slovakia, January 22--26, 2018.
-% \paragraph{Contribution}
-% Pieter Koopman wrote and taught it, I helped with the software and research.
\item \emph{Writing Internet of Things Applications with Task Oriented Programming} \citep*{lubbers_writing_2023}\footnotemark[\value{footnote}]
are the revised lecture notes from a course on programming \gls{IOT} systems using \gls{MTASK} provided at the 2019 \gls{3COWS} summer school in Budapest, Hungary, June 17--21, 2019.
-% \paragraph{Contribution}
-% Pieter Koopman prepared and taught half of the lecture and supervised the practical session.
-% I taught the other half of the lecture, wrote the lecture notes, made the assignments and supervised the practical session.
\item \emph{Interpreting Task Oriented Programs on Tiny Computers} \citep*{lubbers_interpreting_2019}
shows an implementation of the byte code compiler and \gls{RTS} of \gls{MTASK}.
-% \paragraph{Contribution}
-% The research in this paper and writing the paper was performed by me, though there were weekly meetings with Pieter Koopman and Rinus Plasmeijer.
+ The paper was published at the \ifl{} 2019 in Singapore.
\item \emph{Reducing the Power Consumption of IoT with Task-Oriented Programming} \citep*{crooijmans_reducing_2022}
shows how to create a scheduler so that devices running \gls{MTASK} tasks can go to sleep more automatically and how interrupts are incorporated in the language.
-% \paragraph{Contribution}
-% The research was carried out by \citet{crooijmans_reducing_2021} during his Master's thesis.
-% I did the daily supervision and helped with the research, Pieter Koopman was the formal supervisor and wrote most of the paper.
+ The paper was published at the \tfp{} 2022 in Krakow, Poland (moved to online).
\item \emph{Green Computing for the Internet of Things} \citep*{lubbers_green_2022}\footnote{This work acknowledges the support of the \erasmusplus{} project ``SusTrainable---Promoting Sustainability as a Fundamental Driver in Software Development Training and Education'', no.\ 2020--1--PT01--KA203--078646.}
are the revised lecture notes from a course on sustainable \gls{IOT} programming with \gls{MTASK} provided at the 2022 SusTrainable summer school in Rijeka, Croatia, July 4--8, 2022.
-
-% \paragraph{Contribution}
-% These revised lecture notes are from a course on sustainable programming using \gls{MTASK} provided at the 2022 SusTrainable summer school in Rijeka, Croatia.
-% Pieter prepared and taught a quarter of the lecture and supervised the practical session.
-% I prepared and taught the other three quarters of the lecture, made the assignments and supervised the practical session
\end{enumerate}
\paragraph{Contribution:}
\subsection{\Fullref{prt:tvt}}
\Cref{prt:tvt} is based on a journal paper that quantitatively and qualitatively compares traditional \gls{IOT} architectures with \gls{TOP} \gls{IOT} architectures.
\begin{enumerate}[resume]
- \item \emph{Could Tierless Programming Reduce IoT Development Grief?} \citep*{lubbers_could_2022}
+ \item \emph{Could Tierless Programming Reduce IoT Development Grief?} \citep*{lubbers_could_2023}
is an extended version of paper~\ref{enum:iot20}.
It compares programming traditional tiered architectures to tierless architectures by illustrating a qualitative and a quantitative four-way comparison of a smart-campus application.
+ The paper was published in the \tiot{} journal.
\item \emph{Tiered versus Tierless \glsxtrshort{IOT} Stacks: Comparing Smart Campus Software Architectures} \citep*{lubbers_tiered_2020}\footnote{This work was partly funded by the 2019 Radboud-Glasgow Collaboration Fund.}\label{enum:iot20} compares traditional tiered programming to tierless architectures by comparing two implementations of a smart-campus application.
+ The paper was published in the \iotconf{} 2020 in Malm\"o, Sweden (moved to online).
\end{enumerate}
\paragraph{Contribution:}
repositories / phd-thesis.git / blobdiff