X-Git-Url: https://git.martlubbers.net/?a=blobdiff_plain;f=methods.tex;h=2c8e198ec255c07a5d705f14cceb0e35a0f75472;hb=0318eb1b212df7d3980f268f03429936d2f1d617;hp=11fc5b510701a0a167fb5389c499c587eaa26525;hpb=3e05ec4519ceba379e742a1c817a7a1cdfa64e25;p=msc-thesis1617.git diff --git a/methods.tex b/methods.tex index 11fc5b5..2c8e198 100644 --- a/methods.tex +++ b/methods.tex @@ -1,196 +1,5 @@ -\section{\acrlong{TOP}} -\gls{TOP} is a recent new programming paradigm implemented as -\gls{iTasks}~\cite{achten_introduction_2015} in -the pure lazy functional language \gls{Clean} +\input{methods.top.tex} -\todo{Main terms} -The lazy functional programming language based on graph rewriting -\gls{Clean}~\cite{brus_cleanlanguage_1987} +\input{methods.dsl.tex} -\section{\acrlong{EDSL}s} -\glspl{mTask} are expressed in a class based shallowly embedded \gls{EDSL}. -There are two main types of \glspl{EDSL}. -\todo{Small shallow embedded dsl intro} -\todo{Small deep embedded dsl} -\todo{Show that class based has the best of both worlds} - -\section{Devices} -The client code for the devices is compiled from one codebase. For a device to -be eligible for \glspl{mTask} it must be able to compile the shared codebase -and implement (part of) the device specific interface. The shared codebase only -uses standard \gls{C} and no special libraries or tricks are used. Therefore -the code is compilable for almost any device or system. Note that it is not -needed to implement a full interface\todo{handshake}. The full interface, -listed in Appendix~\label{app:device-interface}, also includes functions for -accessing the peripherals that not every device might have. - -\subsection{Specification} -Devices are stored in a record type and all devices in the system are stored in -a \gls{SDS} containing all devices. - -\subsection{Communication} - - -\section{mTasks} -\subsection{\gls{EDSL}} - -\subsection{Shares} -%\subsection{Serial port communication in Clean and iTasks} -%In the first exploration stage I added duplex serial port communication to -%iTasks in the same way as TCP is added. To make it work several changes had to -%be done to the iTasks core to allow backgroundtasks to be added at runtime. The -%function shown in Listing~\ref{lst:serialtask} results into a task that -%sends the data added to the output queue through the serial port and adds data -%received to the input queue for the user to process. -% -%\begin{lstlisting}[caption={Serial port communication in iTasks}, -% language=Clean,label={lst:serialtask}] -%syncSerialChannel :: String TTYSettings (Shared ([String],[String],Bool)) -> Task () -% -%:: ByteSize = BytesizeFive | BytesizeSix | BytesizeSeven | BytesizeEight -%:: Parity = ParityNone | ...ParityOdd | ParityEven | ParitySpace | ParityMark -%:: BaudRate = ... | B9600 | B19200 | ... -%:: TTYSettings = { -% baudrate :: BaudRate, -% bytesize :: ByteSize, -% parity :: Parity, -% stop2bits :: Bool, -% xonxoff :: Bool} -%\end{lstlisting} -% -%\subsection{mTasks} -%The core of the project revolves around the embedded domain specific language -%(EDSL) called mTask designed by Pieter Koopman. mTasks is used to use the task -%oriented programming on microcontrollers in a type-safe environment. Originally -%mTasks are compiled to c code that could be compiled for arduino compatible -%devices. Such generated code will be flashed to the program memory once. In -%short, the original mTask system is comparable to an entire iTasks sytem -%including the engine. -% -%For this project the imperative language constructs of the mTask DSL are used. -%Listing~\ref{lst:mtask} shows some of these class base DSL components for -%things like arithmetics, sequencing, conditionals, shared data sources and -%interaction with the user LEDs. Together with some helper functions code -%programmed in this DSL can be compiled to bytecode and sent to a device. -% -%\begin{lstlisting}[language=Clean,label={lst:mtask}, -% caption={Parts of the mTask DSL}] -%:: Upd = Upd -%:: Expr = Expr -%:: Stmt = Stmt -%:: UserLED = LED1 | LED2 | LED3 -% -%:: Main a = {main :: a} -% -%class arith v where -% lit :: t -> v t Expr | ... -% (+.) infixl 6 :: (v t p) (v t q) -> v t Expr | ... -%class IF v where -% IF :: (v Bool p) (v t q) (v s r) -> v () Stmt | isExpr p -%class sds v where -% sds :: ((v t Upd)->In t (Main (v c s))) -> (Main (v c s)) | ... -% pub :: (v t Upd) -> v t Expr | ... -%class seq v where -% (:.) infixr 0 :: (v t p) (v u q) -> v u Stmt | ... -%class assign v where -% (=.) infixr 2 :: (v t Upd) (v t p) -> v t Expr | ... -%class noOp v where noOp :: v t p -%class userLed v where -% ledOn :: UserLED -> (v () Stmt) -% ledOff :: UserLED -> (v () Stmt) -%\end{lstlisting} -% -%\subsection{iTasks} -%In iTasks several tasks have been devised to handle the communication. Moreover -%the tasks will synchronize the shared data sources in the mTask domain with -%real SDSs in the iTasks domain allowing for communication between mTasks and -%iTasks tasks. To not clutter the communication channels the SDSs are not -%synchronized on every change on the device. When a share changes on the server -%his new value will be pushed to the device immediately. When a share is updated -%on the client it must be explicitly published using. This approach has been -%taken because some shares might be only used internally and therefore would -%clutter the communication channels that could be low-bandwidth. -% -% -%\subsection{Devices} -%For the devices an engine has been built that can receive mTasks and SDSs and -%execute them accordingly. To add a new device to the list the programmer just -%has to implement a relatively small interface. All the other functionality is -%using standard C or the interface. This interface is listed in~% -%\ref{lst:interface} and includes reading and writing data, controlling the -%peripherals and some auxiliary functions. -% -%\begin{lstlisting}[language=c,caption={Device interface},label={lst:interface}] -%uint8_t read_byte(void); -%void write_byte(uint8_t b); -% -%void write_dpin(uint8_t i, bool b); -%bool read_dpin(uint8_t i); -% -%void write_apin(uint8_t i, uint8_t a); -%uint8_t read_apin(uint8_t i); -% -%long millis(void); -%bool input_available(void); -%void delay(long ms); -% -%void setup(void); -%void debug(char *fmt, ...); -%void pdie(char *s); -%void die(char *fmt, ...); -%\end{lstlisting} -% -%mTasks run either at a fixed interval or are one-shot which is added to the -%message. The entire protocol specification can be found in the code that is -%available. When an mTask is one-shot it will only be executed once and then -%removed. This can be useful for user related tasks such as shutting down blinds -%or turning on lights for an indefinite time. mTasks that run at a fixed -%interval time can be used to monitor sensors or to periodically communicate -%with peripherals like LCD screens. -% -%There are many things to be improved upon in future research. Most likely these -%points will be touched upon in my Master's thesis research. -%\begin{itemize} -% \item Support task combinators and functions. -% -% The mTask language already supports the step combinator and it might be -% fruitful to add for more expressively. Moreover functions would also -% add a lot. They can be used to share code between tasks to reduce the -% bytecode size. -% \item Seamless integration with iTasks. -% -% At the moment everything works but is hacked together. I would like to -% extend this with a more robust system that allows adding devices on the -% fly and adds functionality to monitor the mTask devices. -% \item Dynamic mTask/SDS allocation. -% -% Currently all client data for mTask and SDS storage is statically -% allocated. This means that when only a few tasks are used the memory -% needed is too high. This can be improved upon by only allocating -% resources for tasks when they are requested and this would allow the -% system to run on low memory devices like arduino's. -% \item Extend on SDSs. -% -% In the current system the shared data sources used in mTask programs -% live in a different domain and are synchronized with an iTask -% counterpart. Programming mTasks could be made more intuitive if you -% could use standard SDSs from iTasks. Moreover, at the moment only -% integer and boolean shares are allowed. This really should be extended -% to at least strings. -% \item Slicing tasks. -% -% Every mTask runs in its entirety and to not run into race and -% scheduling problems loops are not allowed in the mTasks. An improvement -% to this could be multithreading the tasks by giving them slices of -% computation and pausing them every slice. In this way loops could be -% allowed without blocking the entire system. It does require more memory -% however. -% \item Run tasks when an interrupt fires. -% -% Tasks can be scheduled either one-shot or at an interval. It might be -% useful to tie mTasks to hardware interrupts to increase responsiveness -% and possibly battery life. These interrupts do not need to be hardware -% based. A usecase might be to run a task when some other task is -% yielding a value (see task combinators) or to run a task when a shared -% data source is received from the server. -%\end{itemize} +\input{methods.mtask.tex}