X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=methods.mtask.tex;h=df05035720e5ebc7621fccd8fae2d49d8a0f5146;hb=ab546cf018589757a516121ebfcc78080827bcff;hp=a0ec96b536f1590926f3f694bd096f00fad86d41;hpb=c4c4901bb58dcf6450dd50010e27be66f80b7a00;p=msc-thesis1617.git diff --git a/methods.mtask.tex b/methods.mtask.tex index a0ec96b..df05035 100644 --- a/methods.mtask.tex +++ b/methods.mtask.tex @@ -2,7 +2,7 @@ The \gls{mTask}-\gls{EDSL} is the basis on which the system is built. The \gls{mTask}-\gls{EDSL} was created by Koopman et al.\ to support several views such as an \gls{iTasks} simulation and a \gls{C}-code generator. The \gls{EDSL} was designed to generate a ready to compile \gls{TOP}-like system for -microcontrollers such as the Arduino\cite{koopman_type-safe_nodate}% +microcontrollers such as the \gls{Arduino}\cite{koopman_type-safe_nodate}% \cite{plasmeijer_shallow_2016}. The \gls{mTask}-\gls{EDSL} is a shallowly embedded class based \gls{EDSL} and @@ -12,20 +12,21 @@ that are used in this extension. The parts of the \gls{EDSL} that are not used will not be discussed and the details of those parts can be found in the cited literature. -A view for the \gls{mTask}-\gls{EDSL} is a type of kind \CI{*->*->*} that -implements some of the classes given. The types do not have to be present as -fields in the higher kinded view and can, and will most often, solely be -phantom types. A view is of the form \CI{v t r}. The first variable will be the -type of the view, the second type variable will be the type of the -\gls{EDSL}-expression and the third type variable represents the role of the -expression. Currently the role of the expressions form a hierarchy. The three -roles and their hierarchy are shown in Listing~\ref{lst:exprhier}. This implies -that everything is a statement, only a \CI{Upd} and a \CI{Expr} are -expressions. The \CI{Upd} restriction describes updatable expressions such as -\gls{GPIO} pins and \gls{SDS}. +A view for the \gls{mTask}-\gls{EDSL} is a type with kind \CI{*->*->*}% +\footnote{A type with two free type variables.} that implements some of the +classes given. The types do not have to be present as fields in the higher +kinded view and can, and will most often, solely be phantom types. A view is of +the form \CI{v t r}. The first type variable will be the type of the view, the +second type variable will be the type of the \gls{EDSL}-expression and the +third type variable represents the role of the expression. Currently the role +of the expressions form a hierarchy. The three roles and their hierarchy are +shown in Listing~\ref{lst:exprhier}. This implies that everything is a +statement, only a \CI{Upd} and a \CI{Expr} are expressions. The \CI{Upd} +restriction describes updatable expressions such as \gls{GPIO} pins and +\glspl{SDS}. \begin{lstlisting}[% - language=Clean,label={lst:exprhier},caption={Expression role hierarchy}] + label={lst:exprhier},caption={Expression role hierarchy}] :: Upd = Upd :: Expr = Expr :: Stmt = Stmt @@ -45,7 +46,7 @@ brevity. Moreover, the class restrictions are only shown in the first functions and omitted in subsequent funcitons. Both the boolean expression and arithmetic expression classes are shown in Listing~\ref{lst:arithbool}. -\begin{lstlisting}[language=Clean,label={lst:arithbool}, +\begin{lstlisting}[label={lst:arithbool}, caption={Basic classes for expressions}] class arith v where lit :: t -> v t Expr @@ -63,32 +64,40 @@ class boolExpr v where Looping of \glspl{Task} happens because \glspl{Task} are executed after waiting a specified amount of time or when they are launched by another task or even themselves. Therefore there is no need for loop control flow functionality such -as \emph{while} or \emph{for} constructions. The main control flow is the -sequence operator and the \emph{if} statement. Both are shown in -Listing~\ref{lst:control}. The first class of \emph{If} statements describe the -regular \emph{if} statement. The expressions given can have any role. The -functional dependency on \CI{s} determines the return type of the statement. -The sequence operator is very straightforward and just ties the two expressions -together in sequence. +as \emph{while} or \emph{for} constructions. The main control flow operators +are the sequence operator and the \emph{if} statement. Both are shown in +Listing~\ref{lst:control}. The first class of \emph{If} statements describes +the regular \emph{if} statement. The expressions given can have any role. The +functional dependency on \CI{s} determines the return type of the +statement. The listing includes examples of implementations that illustrate +this dependency. + +The sequence operator is very straightforward and just ties +the two expressions together in sequence. \begin{lstlisting}[% - language=Clean,label={lst:control},caption={Control flow operators}] + label={lst:control},caption={Control flow operators}] class If v q r ~s where If :: (v Bool p) (v t q) (v t r) -> v t s | ... +instance If Code Stmt Stmt Stmt +instance If Code e Stmt Stmt +instance If Code Stmt e Stmt +instance If Code x y Expr + class seq v where (:.) infixr 0 :: (v t p) (v u q) -> v u Stmt | ... \end{lstlisting} \section{Input/Output and class extensions} -All expressions that have an \CI{Upd} role can be assigned to. Examples of such -expressions are \glspl{SDS} and \gls{GPIO}. Moreover, class extensions can be -created for specific peripherals such as user LEDs. The classes facilitating -this are shown in Listing~\ref{lst:sdsio}. In this way the assignment is the -same for every assignable entity. +Values can be assigned to all expressions that have an \CI{Upd} role. Examples +of such expressions are \glspl{SDS} and \gls{GPIO} pins. Moreover, class +extensions can be created for specific peripherals such as builtin \glspl{LED}. +The classes facilitating this are shown in Listing~\ref{lst:sdsio}. In this way +the assignment is the same for every assignable entity. \begin{lstlisting}[% - language=Clean,label={lst:sdsio},caption={Input/Output classes}] + label={lst:sdsio},caption={Input/Output classes}] :: DigitalPin = D0 | D1 | D2 | D3 | D4 | D5 |D6 | D7 | D8 | D9 | D10 | D11 | D12 | D13 :: AnalogPin = A0 | A1 | A2 | A3 | A4 | A5 :: UserLED = LED1 | LED2 | LED3 @@ -114,11 +123,11 @@ class assign v where A way of storing data in \glspl{mTask} is using \glspl{SDS}. \glspl{SDS} serve as variables in the \gls{mTask} and maintain their value across executions. The classes associated with \glspl{SDS} are listed in -Listing~\ref{lst:sdsclass}. The \CI{Main} class is introduced to box an +Listing~\ref{lst:sdsclass}. The \CI{Main} type is introduced to box an \gls{mTask} and make it recognizable by the type system. \begin{lstlisting}[% - language=Clean,label={lst:sdsclass},caption={\glspl{SDS} in \gls{mTask}}] + label={lst:sdsclass},caption={\glspl{SDS} in \gls{mTask}}] :: In a b = In infix 0 a b :: Main a = {main :: a} @@ -139,9 +148,9 @@ the actual \gls{Task} will be executed some time in the future. The \gls{iTasks}-backend simulates the \gls{C}-backend and thus uses the same semantics. This engine expressed in pseudocode is listed as Algorithm~\ref{lst:engine}. All the \glspl{Task} are inspected on their waiting -time. When the waiting time has not passed the delta is subtracted and they are -pushed to the end of the queue. When the waiting has has surpassed they are -executed. When a \gls{mTask} wants to queue another \gls{mTask} it can just +time. When the waiting time has not passed; the delta is subtracted and the +task gets pushed to the end of the queue. When the waiting has surpassed they are +executed. When an \gls{mTask} wants to queue another \gls{mTask} it can just append it to the queue. \begin{algorithm}[H] @@ -171,11 +180,11 @@ To achieve this in the \gls{EDSL} a \gls{Task} clas are added that work in a similar fashion as the \texttt{sds} class. This class is listed in Listing~\ref{lst:taskclass}. \glspl{Task} can have an argument and always have to specify a delay or waiting time. The type signature of the \CI{mtask} is -rather arcane and therefore an example is given. The aforementioned Listing +complex and therefore an example is given. The aforementioned Listing shows a simple specification containing one task that increments a value indefinitely every one seconds. -\begin{lstlisting}[language=Clean,label={lst:taskclass},% +\begin{lstlisting}[label={lst:taskclass},% caption={The classes for defining tasks}] class mtask v a where task :: (((v delay r) a->v MTask Expr)->In (a->v u p) (Main (v t q))) -> Main (v t q) | ... @@ -188,13 +197,13 @@ Some example \glspl{mTask} using almost all of the functionality are shown in Listing~\ref{lst:exmtask}. The \glspl{mTask} shown in the example do not belong to a particular view and therefore are of the type \CI{View t r}. The \CI{blink} \gls{mTask} show the classic \gls{Arduino} \emph{Hello World!} -application that blinks a certain LED every second. The \CI{thermostat} -expression will enable a digital pin powering a cooling fan when the analog -pin representing a temperature sensor is too high. \CI{thermostat`} shows the -same expression but now using the assignment style \gls{GPIO} technique. +application that blinks a certain \gls{LED} every second. The \CI{thermostat} +expression will enable a digital pin powering a cooling fan when the analog pin +representing a temperature sensor is too high. \CI{thermostat`} shows the same +expression but now using the assignment style \gls{GPIO} technique. \begin{lstlisting}[% - language=Clean,label={lst:exmtask},caption={Some example \glspl{mTask}}] + label={lst:exmtask},caption={Some example \glspl{mTask}}] blink = task \blink=(\x. IF (x ==. lit True) (ledOn led) (ledOff led) :. blink (lit 1000) (Not x) @@ -202,7 +211,7 @@ blink = task \blink=(\x. thermostat :: Main (View () Stmt) thermostat = {main = - IF (analogRead A0 >. 50) + IF (analogRead A0 >. lit 50) ( digitalWrite D0 (lit True) ) ( digitalWrite D0 (lit False) ) } @@ -210,5 +219,5 @@ thermostat = {main = thermostat` :: Main (View () Stmt) thermostat` = let a0 = aIO A0 - d0 = dIO D0 in {main = IF (a0 >. 50) (d0 =. lit True) (d0 =. lit False) } + d0 = dIO D0 in {main = IF (a0 >. lit 50) (d0 =. lit True) (d0 =. lit False) } \end{lstlisting}