\pagenumbering{arabic}
}{}
-\chapter{Introduction to \texorpdfstring{\gls{IOT}}{IoT} programming}%
+\chapter{Introduction to \texorpdfstring{\glsxtrshort{IOT}}{IoT} device programming}%
\label{chp:top4iot}
\todo{betere chapter naam}
\begin{chapterabstract}
This chapter introduces \gls{MTASK} and puts it into perspective compared to traditional microprocessor programming.
\end{chapterabstract}
+The edge layer of \gls{IOT} system mostly consists of microprocessors that require a different method of programming.
+Usually, programming microprocessors requires an elaborate multi-step toolchain of compilation, linkage, binary image creation, and burning this image onto the flash memory of the microprocessor in order to compile and run a program.
+The programs are usually cyclic executives instead of tasks running in an operating system, i.e.\ there is only a single task that continuously runs on the bare metal.
+Each type of microprocessors comes with vendor-provided drivers, compilers and \glspl{RTS} but there are many platform that abstract away from this such as \gls{MBED} and \gls{ARDUINO} of which \gls{ARDUINO} is specifically designed for education and prototyping and hence used here.
+The popular \gls{ARDUINO} \gls{C}\slash\gls{CPP} dialect and accompanying libraries provide an abstraction layer for common microprocessor behaviour allowing the programmer to program multiple types of microprocessors using a single language.
+Originally it was designed for the in-house developed open-source hardware with the same name but the setup allows porting to many architectures.
+It provides an \gls{IDE} and toolchain automation to perform all steps of the toolchain with a single command.
+
+\section{Hello world!}
Traditionally, the first program that one writes when trying a new language is the so called \emph{Hello World!} program.
This program has the single task of printing the text \emph{Hello World!} to the screen and exiting again, useful to become familiarised with the syntax and verify that the toolchain and runtime environment is working.
-On microprocessors, there often is no screen for displaying text.
-Nevertheless, almost always there is a monochrome $1\times1$ pixel screen, namely an---often builtin---\gls{LED}.
+On microprocessors, there usually is no screen for displaying text.
+Nevertheless, almost always there is a built-in monochrome $1\times1$ pixel screen, namely an \gls{LED}.
The \emph{Hello World!} equivalent on microprocessors blinks this \gls{LED}.
-\Cref{lst:arduinoBlink} shows how the logic of a blink program might look when using \gls{ARDUINO}'s \gls{CPP} dialect.
+\Cref{lst:arduinoBlink} shows how the logic of a blink program might look when using \gls{ARDUINO}'s \gls{C}\slash\gls{CPP} dialect.
Every \gls{ARDUINO} program contains a \arduinoinline{setup} and a \arduinoinline{loop} function.
The \arduinoinline{setup} function is executed only once on boot, the \arduinoinline{loop} function is continuously called afterwards and contains the event loop.
After setting the \gls{GPIO} pin to the correct mode, blink's \arduinoinline{loop} function alternates the state of the pin representing the \gls{LED} between \arduinoinline{HIGH} and \arduinoinline{LOW}, turning the \gls{LED} off and on respectively.
-In between it waits for 500 milliseconds so that the blinking is actually visible for the human eye.
-Compiling this results in a binary firmware that needs to be flashed onto the program memory.
+In between it waits for \qty{500}{\ms} so that the blinking is actually visible for the human eye.
Translating the traditional blink program to \gls{MTASK} can almost be done by simply substituting some syntax as seen in \cref{lst:blinkImp}.
E.g.\ \arduinoinline{digitalWrite} becomes \cleaninline{writeD}, literals are prefixed with \cleaninline{lit} and the pin to blink is changed to represent the actual pin for the builtin \gls{LED} of the device used in the exercises.
In contrast to the imperative \gls{CPP} dialect, \gls{MTASK} is a \gls{TOP} language and therefore there is no such thing as a loop, only task combinators to combine tasks.
-To simulate a loop, the \cleaninline{rpeat} task can be used, this task executes the argument task and, when stable, reinstates it.
+To simulate a loop, the \cleaninline{rpeat} task combinator can be used as this task combinator executes the argument task and, when stable, reinstates it.
The body of the \cleaninline{rpeat} contains similarly named tasks to write to the pins and to wait in between.
The tasks are connected using the sequential \cleaninline{>>|.} combinator that for all current intents and purposes executes the tasks after each other.
delay(500);
digitalWrite(D2, LOW);
delay(500);
-}\end{lstArduino}
+}
+ \end{lstArduino}
\end{subfigure}%
\begin{subfigure}[b]{.5\linewidth}
\begin{lstClean}[caption={Blink program.},label={lst:blinkImp}]
>>|. writeD d2 false
>>|. delay (lit 500)
)
-}\end{lstClean}
+}
+ \end{lstClean}
\end{subfigure}
\end{figure}
\section{Threaded blinking}
Now say that we want to blink multiple blinking patterns on different \glspl{LED} concurrently.
-For example, blink three \glspl{LED} connected to \gls{GPIO} pins $1,2$ and $3$ at intervals of $500,300$ and $800$ milliseconds.
+For example, blink three \glspl{LED} connected to \gls{GPIO} pins $1,2$ and $3$ at intervals of \qtylist{500;300;800}{\ms}.
Intuitively you want to lift the blinking behaviour to a function and call this function three times with different parameters as done in \cref{lst:blinkthreadno}
\begin{lstArduino}[caption={Naive approach to multiple blinking patterns.},label={lst:blinkthreadno}]
Unfortunately, this does not work because the \arduinoinline{delay} function blocks all further execution.
The resulting program will blink the \glspl{LED} after each other instead of at the same time.
-To overcome this, it is necessary to slice up the blinking behaviour in very small fragments so it can be manually interleaved~\citep{feijs_multi-tasking_2013}.
+To overcome this, it is necessary to slice up the blinking behaviour in very small fragments so it can be manually interleaved \citep{feijs_multi-tasking_2013}.
Listing~\ref{lst:blinkthread} shows how three different blinking patterns might be achieved in \gls{ARDUINO} using the slicing method.
If we want the blink function to be a separate parametrizable function we need to explicitly provide all references to the required state.
Furthermore, the \arduinoinline{delay} function can not be used and polling \arduinoinline{millis} is required.
}\end{lstClean}
% VimTeX: SynIgnore off
-\chapter{The \texorpdfstring{\gls{MTASK}}{mTask} \texorpdfstring{\gls{DSL}}{DSL}}%
+\section{\texorpdfstring{\Gls{MTASK}}{MTask} history}
+\subsection{Generating \texorpdfstring{\gls{C}/\gls{CPP}}{C/C++} code}
+A first throw at a class-based shallowly \gls{EDSL} for microprocessors was made by \citet{plasmeijer_shallow_2016}.
+The language was called \gls{ARDSL} and offered a type safe interface to \gls{ARDUINO} \gls{CPP} dialect.
+A \gls{CPP} code generation backend was available together with an \gls{ITASK} simulation backend.
+There was no support for tasks or even functions.
+Some time later in the 2015 \gls{CEFP} summer school, an extended version was created that allowed the creation of imperative tasks, \glspl{SDS} and the usage of functions \citep{koopman_type-safe_2019}.
+The name then changed from \gls{ARDSL} to \gls{MTASK}.
+
+\subsection{Integration with \texorpdfstring{\gls{ITASK}}{iTask}}
+\Citet{lubbers_task_2017} extended this in his Master's Thesis by adding integration with \gls{ITASK} and a bytecode compiler to the language.
+\Gls{SDS} in \gls{MTASK} could be accessed on the \gls{ITASK} server.
+In this way, entire \gls{IOT} systems could be programmed from a single source.
+However, this version used a simplified version of \gls{MTASK} without functions.
+This was later improved upon by creating a simplified interface where \glspl{SDS} from \gls{ITASK} could be used in \gls{MTASK} and the other way around \citep{lubbers_task_2018}.
+It was shown by \citet{amazonas_cabral_de_andrade_developing_2018} that it was possible to build real-life \gls{IOT} systems with this integration.
+Moreover, a course on the \gls{MTASK} simulator was provided at the 2018 \gls{CEFP}/\gls{3COWS} winter school in Ko\v{s}ice, Slovakia \citep{koopman_simulation_2018}.
+
+\section{Transition to \texorpdfstring{\gls{TOP}}{TOP}}
+The \gls{MTASK} language as it is now was introduced in 2018 \citep{koopman_task-based_2018}.
+This paper updated the language to support functions, tasks and \glspl{SDS} but still compiled to \gls{CPP} \gls{ARDUINO} code.
+Later the bytecode compiler and \gls{ITASK} integration was added to the language \citep{lubbers_interpreting_2019}.
+Moreover, it was shown that it is very intuitive to write microprocessor applications in a \gls{TOP} language \citep{lubbers_multitasking_2019}.
+One reason for this is that a lot of design patterns that are difficult using standard means are for free in \gls{TOP} (e.g.\ multithreading).
+In 2019, the \gls{CEFP} summer school in Budapest, Hungary hosted a course on developing \gls{IOT} applications with \gls{MTASK} as well \citep{lubbers_writing_2019}.
+
+\subsection{\texorpdfstring{\Glsxtrshort{TOP}}{TOP}}
+In 2022, the SusTrainable summer school in Rijeka, Croatia hosted a course on developing greener \gls{IOT} applications using \gls{MTASK} as well (the lecture notes are to be written).
+Several students worked on extending \gls{MTASK} with many useful features:
+\Citet{veen_van_der_mutable_2020} did preliminary work on a green computer analysis, built a simulator and explored the possibilities for adding bounded datatypes; \citet{boer_de_secure_2020} investigated the possibilities for secure communication channels; and \citet{crooijmans_reducing_2021} added abstractions for low-power operation to \gls{MTASK} such as hardware interrupts and power efficient scheduling (resulting in a paper as well \citet{crooijmans_reducing_2022}).
+\Citet{antonova_mtask_2022} defined a preliminary formal semantics for a subset of \gls{MTASK}.
+Moreover, plans for student projects and improvements include exploring integrating \gls{TINYML} into \gls{MTASK}; and adding intermittent computing support to \gls{MTASK}.
+
+In 2023, the SusTrainable summer school in Coimbra, Portugal will host a course on \gls{MTASK} as well.
+
+\subsection{\texorpdfstring{\gls{MTASK}}{mTask} in practise}
+Funded by the Radboud-Glasgow Collaboration Fund, collaborative work was executed with Phil Trinder, Jeremy Singer, and Adrian Ravi Kishore Ramsingh.
+An existing smart campus application was developed using \gls{MTASK} and quantitively and qualitatively compared to the original application that was developed using a traditional \gls{IOT} stack \citep{lubbers_tiered_2020}.
+This research was later extended to include a four-way comparison: \gls{PYTHON}, \gls{MICROPYTHON}, \gls{ITASK} and \gls{MTASK} \citep{lubbers_could_2022}.
+Currently, power efficiency behaviour of traditional versus \gls{TOP} \gls{IOT} stacks is being compared as well adding a \gls{FREERTOS} implementation to the mix as well.
+
+\chapter{The \texorpdfstring{\gls{MTASK}}{mTask} \texorpdfstring{\glsxtrshort{DSL}}{DSL}}%
\label{chp:mtask_dsl}
\begin{chapterabstract}
This chapter serves as a complete guide to the \gls{MTASK} language, from an \gls{MTASK} programmer's perspective.
\end{chapterabstract}
-The \gls{MTASK} system is a \gls{TOP} programming environment for programming microprocessors.
-It is implemented as an\gls{EDSL} in \gls{CLEAN} using class-based---or tagless-final---embedding (See \cref{ssec:tagless}).
-Due to the nature of the embedding technique, it is possible to have multiple interpretations of---or views on---programs written in the \gls{MTASK} language.
+The \gls{MTASK} system is a complete \gls{TOP} programming environment for programming microprocessors.
+It is implemented as an \gls{EDSL} in \gls{CLEAN} using class-based---or tagless-final---embedding (see \cref{sec:tagless-final_embedding}).
+
+Due to the nature of the embedding technique, it is possible to have multiple views on-programs written in the \gls{MTASK} language.
The following interpretations are available for \gls{MTASK}.
-\begin{itemize}
- \item Pretty printer
+\begin{description}
+ \item[Pretty printer]
This interpretation converts the expression to a string representation.
- \item Simulator
+ \item[Simulator]
The simulator converts the expression to a ready-for-work \gls{ITASK} simulation in which the user can inspect and control the simulated peripherals and see the internal state of the tasks.
- \item Compiler
+ \item[Byte code compiler]
- The compiler compiles the \gls{MTASK} program at runtime to a specialised bytecode.
+ The compiler compiles the \gls{MTASK} program at runtime to a specialised byte code.
Using a handful of integration functions and tasks, \gls{MTASK} tasks can be executed on microprocessors and integrated in \gls{ITASK} as if they were regular \gls{ITASK} tasks.
Furthermore, with special language constructs, \glspl{SDS} can be shared between \gls{MTASK} and \gls{ITASK} programs.
-\end{itemize}
+\end{description}
When using the compiler interpretation in conjunction with the \gls{ITASK} integration, \gls{MTASK} is a heterogeneous \gls{DSL}.
-I.e.\ some components---e.g.\ the \gls{RTS} on the microprocessor---is largely unaware of the other components in the system.
-Furthermore, it is executed on a completely different architecture.
-The \gls{MTASK} language consists of a host language---a simply-typed $\lambda$-calculua with support for some basic types, function definition and data types (see \cref{sec:expressions})---enriched with a task language (see \cref{sec:top}).
+I.e.\ some components---e.g.\ the \gls{RTS} on the microprocessor---is largely unaware of the other components in the system, and it is executed on a completely different architecture.
+The \gls{MTASK} language is an enriched simply-typed $\lambda$-calculus with support for some basic types, arithmetic operations, and function definition; and a task language (see \cref{sec:top}).
\section{Types}
To leverage the type checker of the host language, types in the \gls{MTASK} language are expressed as types in the host language, to make the language type safe.
\label{tbl:mtask-c-datatypes}
\end{table}
-The \gls{MTASK} language consists of a core collection of type classes bundled in the type class \cleaninline{class mtask}.
+\Cref{lst:constraints} contains the definitions for the auxiliary types and type constraints (such as \cleaninline{type} an \cleaninline{basicType}) that are used to construct \gls{MTASK} expressions.
+The \gls{MTASK} language interface consists of a core collection of type classes bundled in the type class \cleaninline{class mtask}.
Every interpretation implements the type classes in the \cleaninline{mtask} class
-There are also \gls{MTASK} extensions that not every interpretation implements such as peripherals and integration with \gls{ITASK}.
-
-\Cref{lst:constraints} contains the definitions for the type constraints and shows some example type signatures for typical \gls{MTASK} expressions and tasks.
-\todo{uitleggen}
-
+There are also \gls{MTASK} extensions that not every interpretation implements such as peripherals and \gls{ITASK} integration.
\begin{lstClean}[caption={Classes and class collections for the \gls{MTASK} language.},label={lst:constraints}]
-:: Main a = { main :: a }
-:: In a b = (In) infix 0 a b
-
class type t | iTask, ... ,fromByteCode, toByteCode t
class basicType t | type t where ...
class mtask v | expr, ..., int, real, long v
-someExpr :: v Int | mtask v
-someExpr = ...
+\end{lstClean}
+
+Sensors, \glspl{SDS}, functions, \etc{} may only be defined at the top level.
+The \cleaninline{Main} type is used that is used to distinguish the top level from the main expression.
+Some top level definitions, such as functions, are defined using \gls{HOAS}.
+To make their syntax friendlier, the \cleaninline{In} type---an infix tuple---is used to combine these top level definitions as can be seen in \cleaninline{someTask} (\cref{lst:mtask_types}).
-someTask :: MTask v Int | mtask v
+\begin{lstClean}[caption={Example task and auxiliary types in the \gls{MTASK} language.},label={lst:mtask_types}]
+:: Main a = { main :: a }
+:: In a b = (In) infix 0 a b
+
+someTask :: MTask v Int | mtask v & liftsds v & sensor1 v & ...
someTask =
sensor1 config1 \sns1->
sensor2 config2 \sns2->
- fun \fun1= ( ... )
+ sds \s1=initial
+ In liftsds \s2=someiTaskSDS
+ In fun \fun1= ( ... )
In fun \fun2= ( ... )
- In {main=mainexpr}
+ In { main = mainexpr }
\end{lstClean}
\section{Expressions}\label{sec:expressions}
\Cref{lst:expressions} shows the \cleaninline{expr} class containing the functionality to lift values from the host language to the \gls{MTASK} language (\cleaninline{lit}); perform number and boolean arithmetics; do comparisons; and conditional execution.
-For every common arithmetic operator in the host language, an \gls{MTASK} variant is present, suffixed by a period to not clash with \gls{CLEAN}'s builtin operators.
+For every common boolean and arithmetic operator in the host language, an \gls{MTASK} variant is present, suffixed by a period to not clash with \gls{CLEAN}'s builtin operators.
\begin{lstClean}[caption={The \gls{MTASK} class for expressions},label={lst:expressions}]
class expr v where
If :: (v Bool) (v t) (v t) -> v t | type t
\end{lstClean}
-Conversion to-and-fro data types is available through the overloaded functions \cleaninline{int}, \cleaninline{long} and \cleaninline{real}.
+Conversion to-and-fro data types is available through the overloaded functions \cleaninline{int}, \cleaninline{long} and \cleaninline{real} that will convert the argument to the respective type similar to casting in \gls{C}.
\begin{lstClean}[caption={Type conversion functions in \gls{MTASK}.}]
class int v a :: (v a) -> v Int
class long v a :: (v a) -> v Long
\end{lstClean}
-Finally, values from the host language must be explicitly lifted to the \gls{MTASK} language using the \cleaninline{lit} function.
+Values from the host language must be explicitly lifted to the \gls{MTASK} language using the \cleaninline{lit} function.
For convenience, there are many lower-cased macro definitions for often used constants such as \cleaninline{true :== lit True}, \cleaninline{false :== lit False}, \etc.
\Cref{lst:example_exprs} shows some examples of these expressions.
+Since they are only expressions, there is no need for a \cleaninline{Main}.
\cleaninline{e0} defines the literal $42$, \cleaninline{e1} calculates the literal $42.0$ using real numbers.
\cleaninline{e2} compares \cleaninline{e0} and \cleaninline{e1} as integers and if they are equal it returns the \cleaninline{e2}$/2$ and \cleaninline{e0} otherwise.
-\cleaninline{approxEqual} performs an approximate equality---albeit not taking into account all floating point pecularities---and demonstrates that \gls{CLEAN} can be used as a macro language, i.e.\ maximise linguistic reuse~\cite{krishnamurthi_linguistic_2001}.
-\todo{uitzoeken waar dit handig is}
-When calling \cleaninline{approxEqual} in an \gls{MTASK} function, the resulting code is inlined.
\begin{lstClean}[label={lst:example_exprs},caption={Example \gls{MTASK} expressions.}]
e0 :: v Int | expr v
e2 :: v Int | expr v
e2 = if' (e0 ==. int e1)
(int e1 /. lit 2) e0
+\end{lstClean}
+
+\Gls{MTASK} is shallowly embedded in \gls{CLEAN} and the terms are constructed at runtime.
+This means that \gls{MTASK} programs can also be tailor-made at runtime or constructed using \gls{CLEAN} functions maximising the linguistic reuse \citep{krishnamurthi_linguistic_2001}
+\cleaninline{approxEqual} in \cref{lst:example_macro} performs an approximate equality---albeit not taking into account all floating point pecularities---.
+When calling \cleaninline{approxEqual} in an \gls{MTASK} function, the resulting code is inlined.
+\begin{lstClean}[label={lst:example_macro},caption={Example linguistic reuse in the \gls{MTASK} language.}]
approxEqual :: (v Real) (v Real) (v Real) -> v Real | expr v
-approxEqual x y eps = if' (x == y) true
- ( if' (x > y)
+approxEqual x y eps = if' (x ==. y) true
+ ( if' (x >. y)
(y -. x < eps)
(x -. y < eps)
)
\end{lstClean}
-\subsection{Data Types}
+\subsection{Data types}
Most of \gls{CLEAN}'s basic types have been mapped on \gls{MTASK} types.
However, it can be useful to have access to compound types as well.
All types in \gls{MTASK} must have a fixed size representation on the stack so sum types are not (yet) supported.
While it is possible to lift types using the \cleaninline{lit} function, you cannot do anything with the types besides passing them around but they are being produced by some parallel task combinators (see \cref{sssec:combinators_parallel}).
-To be able to use types as first class citizens, constructors and field selectors are required.
+To be able to use types as first class citizens, constructors and field selectors are required (see \cref{chp:first-class_datatypes}).
\Cref{lst:tuple_exprs} shows the scaffolding for supporting tuples in \gls{MTASK}.
Besides the constructors and field selectors, there is also a helper function available that transforms a function from a tuple of \gls{MTASK} expressions to an \gls{MTASK} expression of a tuple.
+Examples for using tuple can be found in \cref{sec:mtask_functions}.
\begin{lstClean}[label={lst:tuple_exprs},caption={Tuple constructor and field selectors in \gls{MTASK}.}]
class tupl v where
tupopen f :== \v->f (first v, second v)
\end{lstClean}
-\subsection{Functions}
-Adding functions to the language is achieved by one multi-parameter class to the \gls{DSL}.
-By using \gls{HOAS}, both the function definition and the calls to the function can be controlled by the \gls{DSL}~\citep{pfenning_higher-order_1988,chlipala_parametric_2008}.
-As \gls{MTASK} only supports first-order functions and does not allow partial function application.
-Using a type class of this form, this restriction can be enforced on the type level.
-Instead of providing one instance for all functions, a single instance per function arity is defined.
+\subsection{Functions}\label{sec:mtask_functions}
+Adding functions to the language is achieved by type class to the \gls{DSL}.
+By using \gls{HOAS}, both the function definition and the calls to the function can be controlled by the \gls{DSL} \citep{pfenning_higher-order_1988,chlipala_parametric_2008}.
+The \gls{MTASK} only allows first-order functions and does not allow partial function application.
+This is restricted by using a multi-parameter type class where the first parameter represents the arguments and the second parameter the view.
+By providing a single instance per function arity instead of providing one instance for all functions and using tuples for the arguments this constraint can be enforced.
Also, \gls{MTASK} only supports top-level functions which is enforced by the \cleaninline{Main} box.
-The definition of the type class and the instances for an example interpretation are as follows:
-\todo{uitbreiden}
+The definition of the type class and the instances for an example interpretation (\cleaninline{:: Inter}) are as follows:
\begin{lstClean}[caption={Functions in \gls{MTASK}.}]
class fun a v :: ((a -> v s) -> In (a -> v s) (Main (MTask v u)))
instance fun () Inter where ...
instance fun (Inter a) Inter | type a where ...
-instance fun (Inter a, Inter b) Inter | type a where ...
-instance fun (Inter a, Inter b, Inter c) Inter | type a where ...
+instance fun (Inter a, Inter b) Inter | type a, type b where ...
+instance fun (Inter a, Inter b, Inter c) Inter | type a, ... where ...
...
\end{lstClean}
\end{lstClean}
% VimTeX: SynIgnore off
-\section{Tasks}\label{sec:top}
+\section{Tasks and task combinators}\label{sec:top}
\Gls{MTASK}'s task language can be divided into three categories, namely
\begin{enumerate*}
\item Basic tasks, in most \gls{TOP} systems, the basic tasks are called editors, modelling the interactivity with the user.
\subsubsection{Peripherals}\label{sssec:peripherals}
For every sensor or actuator, basic tasks are available that allow interaction with the specific peripheral.
The type classes for these tasks are not included in the \cleaninline{mtask} class collection as not all devices nor all language interpretations have such peripherals connected.
-\todo{Historically, peripheral support has been added \emph{by need}.}
+%\todo{Historically, peripheral support has been added \emph{by need}.}
\Cref{lst:dht,lst:gpio} show the type classes for \glspl{DHT} sensors and \gls{GPIO} access.
Other peripherals have similar interfaces, they are available in the \cref{sec:aux_peripherals}.
\chapter{Green computing with \texorpdfstring{\gls{MTASK}}{mTask}}%
\label{chp:green_computing_mtask}
+\section{Green \texorpdfstring{\glsxtrshort{IOT}}{IoT} computing}
+
+\section{Task scheduling}
+\subsection{Language}
+\subsection{Device}
+
+\section{Interrupts}
+
\chapter{Integration with \texorpdfstring{\gls{ITASK}}{iTask}}%
\label{chp:integration_with_itask}
The \gls{MTASK} language is a multi-view \gls{DSL}, i.e.\ there are multiple interpretations possible for a single \gls{MTASK} term.
\section{Integration with \texorpdfstring{\gls{ITASK}}{iTask}}
IFL18 paper stukken
-\chapter{\texorpdfstring{\gls{MTASK}}{mTask} history}
-\section{Generating \texorpdfstring{\gls{C}/\gls{CPP}}{C/C++} code}
-A first throw at a class-based shallowly \gls{EDSL} for microprocessors was made by \citet{plasmeijer_shallow_2016}.
-The language was called \gls{ARDSL} and offered a type safe interface to \gls{ARDUINO} \gls{CPP} dialect.
-A \gls{CPP} code generation backend was available together with an \gls{ITASK} simulation backend.
-There was no support for tasks or even functions.
-Some time later in the 2015 \gls{CEFP} summer school, an extended version was created that allowed the creation of imperative tasks, \glspl{SDS} and the usage of functions~\citep{koopman_type-safe_2019}.
-The name then changed from \gls{ARDSL} to \gls{MTASK}.
-
-\section{Integration with \texorpdfstring{\gls{ITASK}}{iTask}}
-Mart Lubbers extended this in his Master's Thesis by adding integration with \gls{ITASK} and a bytecode compiler to the language~\citep{lubbers_task_2017}.
-\Gls{SDS} in \gls{MTASK} could be accessed on the \gls{ITASK} server.
-In this way, entire \gls{IOT} systems could be programmed from a single source.
-However, this version used a simplified version of \gls{MTASK} without functions.
-This was later improved upon by creating a simplified interface where \glspl{SDS} from \gls{ITASK} could be used in \gls{MTASK} and the other way around~\citep{lubbers_task_2018}.
-It was shown by Matheus Amazonas Cabral de Andrade that it was possible to build real-life \gls{IOT} systems with this integration~\citep{amazonas_cabral_de_andrade_developing_2018}.
-Moreover, a course on the \gls{MTASK} simulator was provided at the 2018 \gls{CEFP}/\gls{3COWS} winter school in Ko\v{s}ice, Slovakia~\citep{koopman_simulation_2018}.
-
-\section{Transition to \texorpdfstring{\gls{TOP}}{TOP}}
-The \gls{MTASK} language as it is now was introduced in 2018~\citep{koopman_task-based_2018}.
-This paper updated the language to support functions, tasks and \glspl{SDS} but still compiled to \gls{CPP} \gls{ARDUINO} code.
-Later the bytecode compiler and \gls{ITASK} integration was added to the language~\citep{lubbers_interpreting_2019}.
-Moreover, it was shown that it is very intuitive to write microprocessor applications in a \gls{TOP} language~\citep{lubbers_multitasking_2019}.
-One reason for this is that a lot of design patterns that are difficult using standard means are for free in \gls{TOP} (e.g.\ multithreading).
-In 2019, the \gls{CEFP} summer school in Budapest, Hungary hosted a course on developing \gls{IOT} applications with \gls{MTASK} as well~\citep{lubbers_writing_2019}.
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-\section{\texorpdfstring{\gls{TOP}}{TOP}}
-In 2022, the SusTrainable summer school in Rijeka, Croatia hosted a course on developing greener \gls{IOT} applications using \gls{MTASK} as well (the lecture notes are to be written).
-Several students worked on extending \gls{MTASK} with many useful features:
-Erin van der Veen did preliminary work on a green computer analysis, built a simulator and explored the possibilities for adding bounded datatypes~\citep{veen_van_der_mutable_2020}; Michel de Boer investigated the possibilities for secure communication channels~\citep{boer_de_secure_2020}; and Sjoerd Crooijmans added abstractions for low-power operation to \gls{MTASK} such as hardware interrupts and power efficient scheduling~\citep{crooijmans_reducing_2021}.
-Elina Antonova defined a preliminary formal semantics for a subset of \gls{MTASK}~\citep{antonova_MTASK_2022}.
-Moreover, plans for student projects and improvements include exploring integrating \gls{TINYML} into \gls{MTASK}; and adding intermittent computing support to \gls{MTASK}.
-
-In 2023, the SusTrainable summer school in Coimbra, Portugal will host a course on \gls{MTASK} as well.
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-\section{\texorpdfstring{\gls{MTASK}}{mTask} in practise}
-Funded by the Radboud-Glasgow Collaboration Fund, collaborative work was executed with Phil Trinder, Jeremy Singer and Adrian Ravi Kishore Ramsingh.
-An existing smart campus application was developed using \gls{MTASK} and quantitively and qualitatively compared to the original application that was developed using a traditional \gls{IOT} stack~\citep{lubbers_tiered_2020}.
-The collaboration is still ongoing and a journal article is under review comparing four approaches for the edge layer: \gls{PYTHON}, \gls{MICROPYTHON}, \gls{ITASK} and \gls{MTASK}.
-Furthermore, power efficiency behaviour of traditional versus \gls{TOP} \gls{IOT} stacks is being compared as well adding a \gls{FREERTOS} implementation to the mix as well
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repositories / phd-thesis.git / blobdiff