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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 sense, act, or otherwise, interacts with people, computers, and the environment.
-Despite their immense diversity in characteristics, they are all computers and they they all require software to operate.
+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.
-An increasing number of these connected devices are so-called \emph{edge devices} that operate in the \gls{IOT}.
+An increasing number of these connected devices are so-called edge devices that operate in the \gls{IOT}.
Edge devices are the leaves of the \gls{IOT} systems.
-They perform the interaction with the physical world and are often physically embedded in the fabric itself, residing usually in hard-to-reach places such as light bulbs, clothing, smart electricity meters, buildings, or even farm animals.
-Typically, these edge devices are powered by microcontrollers.
+They perform the interaction with the physical world.
+It is not uncommon for edge devices to be physically embedded in the fabric itself.
+Typically, they reside in hard-to-reach places such as light bulbs, clothing, smart electricity meters, buildings, or even farm animals.
+The majority of edge devices are powered by microcontrollers.
Microcontrollers are equipped with a lot of connectivity for integrating peripherals such as sensors and actuators.
The connectivity makes them very suitable to interact with their surroundings.
These miniature computers contain integrated circuits that accommodate a microprocessor designed for use in embedded applications.
The inflated hardware requirements are no problem for regular computers but impractical for the average edge device.
This is where \glspl{DSL} must be brought into play.
-\Glspl{DSL} are programming languages created with a specific domain in mind.
-Consequently, jargon does not have to be expressed in terms of the language itself, but they can be built-in features.
+\Glspl{DSL} are programming languages tailored to a specific domain.
+Consequently, jargon is not expressed in terms of the language itself, but are built-in language features.
Furthermore, the \gls{DSL} can eschew language or system features that are irrelevant for the domain.
Using \glspl{DSL}, hardware requirements can be drastically lowered, even while maintaining a high abstraction level for the specified domain.
\end{quote}
This dissertation consists of three episodes.
\Cref{prt:dsl} is a paper-based---otherwise known as cumulative---episode containing chapters that provide insight in advanced \gls{DSL} embedding techniques for \gls{FP} languages.
-The chapters can be read independently from each other.
+The chapters can be read independently of each other.
\Cref{prt:top} is a monograph showing \gls{MTASK}, a \gls{TOP} \gls{DSL} for the \gls{IOT}.
Hence, the chapters in this episode are best read in order.
It introduces \gls{IOT} edge device programming, shows the complete \gls{MTASK} language, provides details on how \gls{MTASK} is integrated with \gls{ITASK}, shows how the byte code compiler is implemented, presents a guide for green computing with \gls{MTASK}, and ends with a conclusion and overview of future and related work.
-\Cref{prt:tvt} is a single chapter based on a journal article in which traditional tiered \gls{IOT} programming is qualitatively and quantitatively compared to tierless programming using a real-world application.
+\Cref{prt:tvt} consists of a single chapter that is based on a journal article.
+The chapter provides a qualitative and quantitative comparison of traditional tiered \gls{IOT} programming and tierless programming using a real-world application.
The chapter is readable independently.
The following sections in this prelude provide background material on the \gls{IOT}, \glspl{DSL}, and \gls{TOP} after which a detailed overview of the contributions is presented.
-\section{\texorpdfstring{\Glsxtrlong{IOT}}{Internet of things}}%
+\section{Internet of things}%
\label{sec:back_iot}
The \gls{IOT} is growing rapidly, and it is changing the way people and machines interact with each other and the world.
-While the term \gls{IOT} briefly gained interest around 1999 to describe the communication of \gls{RFID} devices \citep{ashton_internet_1999,ashton_that_2009}, it probably already popped up halfway the eighties in a speech by \citet{lewis_speech_1985}:
+While the term \gls{IOT} briefly gained interest around 1999 to describe the communication of \gls{RFID} devices \citep{ashton_internet_1999,ashton_that_2009}, it probably already popped up halfway the eighties in a company speech by \citet{lewis_speech_1985}:
\begin{quote}
\emph{The \glsxtrlong{IOT}, or \glsxtrshort{IOT}, is the integration of people, processes and technology with connectable devices and sensors to enable remote monitoring, status, manipulation and evaluation of trends of such devices.}
\end{figure}
To explain the tiers, an example \gls{IOT} application---home automation---is dissected.
-Closest to the end-user is the presentation layer, it provides the interface between the user and the \gls{IOT} system.
+Closest to the end-user is the presentation layer.
+This layer provides the interface between the user and the \gls{IOT} system.
In home automation this may be a web interface, an app used on a phone, or wall-mounted tablet to interact with edge devices and view sensor data.
-The application layer provides the \glspl{API}, data interfaces, data storage processing, and data processing of \gls{IOT} systems.
+The application layer is the core of the system.
+It provides the \glspl{API}, data interfaces, data storage processing, and data processing of \gls{IOT} systems.
A cloud server or local server provides this layer in a typical home automation application.
The perception layer---also called edge layer---collects the data and interacts with the environment.
As program memory is mostly flash-based and only lasts a couple of thousands of writes before it wears out, it is not suitable for repeated reconfiguring and reprogramming.
These problems can be mitigated by dynamically sending code to be interpreted to the microcontroller.
-With interpretation, a specialized interpreter is flashed in the program memory once it receives the program code to execute at run time.
+With interpretation, a specialised interpreter is flashed in the program memory once it receives the program code to execute at run time.
Therefore, as the programs are not stored in the flash memory, it does not wear out.
It is challenging to create interpreters for small edge devices due to the severe hardware restrictions.
This dissertation describes a \gls{DSL} that includes the high-level programming concepts of \gls{TOP}, while it can be executed on edge devices with very limited hardware requirements.
It does so by compiling the \gls{DSL} to byte code that is executed in a feather-light domain-specific \gls{OS}.
-\section{\texorpdfstring{\Glsxtrlongpl{DSL}}{Domain-specific languages}}%
+\section{Domain-specific languages}%
\label{sec:back_dsl}
% General
Programming languages can be divided up into two categories: \glspl{DSL} and \glspl{GPL} \citep{fowler_domain_2010}.
The interpreter running on the edge device has no knowledge of the higher level task specification.
It just interprets the byte code it was sent and takes care of the communication.
-\section{\texorpdfstring{\Glsxtrlong{TOP}}{Task-oriented programming}}%
+\section{Task-oriented programming}%
\label{sec:back_top}
\Gls{TOP} is a declarative programming paradigm for modelling interactive systems \citep{plasmeijer_task-oriented_2012}.
Instead of dividing problems into layers, \gls{TOP} deals with separation of concerns in a novel way.
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 \texorpdfstring{\gls{ITASK}}{iTask} system}
+\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 has been under development for over fifteen years and has proven itself through use in industry for some time now as well \citep{top_software_viia_2023}.
+It has been under development for over fifteen years and has proven itself through use in industry for some time now 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}.
\label{fig:todo}
\end{figure}
-\subsection{The \texorpdfstring{\gls{MTASK}}{mTask} system}
+\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.
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.
-On the other hand, \gls{MTASK} offers abstractions for edge layer-specific details such as the heterogeneity of architectures, platforms, and frameworks; peripheral access; (multi) task scheduling; and lowering energy consumption.
+On the other hand, \gls{MTASK} offers abstractions for edge layer-specific details such as the heterogeneity of architectures, platforms, and frameworks; peripheral access; task scheduling; and lowering energy consumption.
The \gls{MTASK} system is seamlessly integrated with \gls{ITASK}.
Tasks in \gls{MTASK} are integrated in such a way that they function as regular \gls{ITASK} tasks.
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{foto device+led?}
-\cleaninputlisting[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=18,numbers=left,caption={The \gls{ITASK} code for the interactive blinking application.},label={lst:intro_blink}]{lst/blink.icl}
\begin{figure}
\centering
The main expression of the program calls the \cleaninline{blink} function with an initial state.
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.
-\begin{lstClean}[numbers=left,belowskip=0pt]
-intBlink :: (Shared sds Int) -> Main (MTask v Int) | mtask v & ...\end{lstClean}
-\cleaninputlisting[aboveskip=0pt,firstnumber=4,firstline=23,numbers=left,caption={The \gls{MTASK} code for the interactive blinking application.},label={lst:intro_blink_mtask}]{lst/blink.icl}
+\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
-\subsection{Other \texorpdfstring{\glsxtrshort{TOP}}{TOP} languages}
+\subsection{Other TOP languages}
While \gls{ITASK} conceived \gls{TOP}, it is no longer the only \gls{TOP} system.
Some \gls{TOP} languages were created to fill a gap encountered in practise.
Toppyt \citep{lijnse_toppyt_2022} is a general purpose \gls{TOP} language written in \gls{PYTHON} used to host frameworks for modelling command \& control systems, and hTask \citep{lubbers_htask_2022}, a vessel for experimenting with asynchronous \glspl{SDS}.
\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.
\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.
\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 paper also serves as a gentle introduction to, and contains a thorough literature study on \glsxtrlong{TH}.
+ The chapter also serves as a gentle introduction to, and contains a thorough literature study on \glsxtrlong{TH}.
\end{enumerate}
-%\paragraph{Other publications on \texorpdfstring{\glspl{EDSL}}{eDSLs}:}
-%Furthermore, I co-authored a paper that is not part of the \gls{MTASK} system yet and hence not part of the dissertation.
+%\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{enumerate}[resume]
-% \item \emph{Strongly-Typed Multi-\kern-2.5ptView Stack-\kern-1.25ptBased Computations} \citep{koopman_strongly-typed_2022}\label{enum:stack-based} shows how to create type-safe \glspl{EDSL} representing stack-based computations.
+%\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.
-%\end{enumerate}
+%
+% \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 of which I am first author are solely written by me, there were weekly meetings with co-authors in which we discussed and refined the ideas.
% \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.
\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{CEFP}\slash{}\gls{3COWS} winter school in Ko\v{s}ice, Slovakia, January 22--26, 2018.
+ 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{CEFP}\slash{}\gls{3COWS} summer school in Budapest, Hungary, June 17--21, 2019.
+ 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.
\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.
-This chapter is based on the conference paper and a journal paper extending it:
\begin{enumerate}[resume]
- \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.
\item \emph{Could Tierless Programming Reduce IoT Development Grief?} \citep*{lubbers_could_2022}
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.
+ \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.
\end{enumerate}
\paragraph{Contribution:}
repositories / phd-thesis.git / blobdiff