A multi-paradigm language for reactive synthesis

This paper proposes a language for describing reactive synthesis problems that integrates imperative and declarative elements. The semantics is defined in terms of two-player turn-based infinite games with full information. Currently, synthesis tools accept linear temporal logic (LTL) as input, but this description is less structured and does not facilitate the expression of sequential constraints. This motivates the use of a structured programming language to specify synthesis problems. Transition systems and guarded commands serve as imperative constructs, expressed in a syntax based on that of the modeling language Promela. The syntax allows defining which player controls data and control flow, and separating a program into assumptions and guarantees. These notions are necessary for input to game solvers. The integration of imperative and declarative paradigms allows using the paradigm that is most appropriate for expressing each requirement. The declarative part is expressed in the LTL fragment of generalized reactivity(1), which admits efficient synthesis algorithms, extended with past LTL. The implementation translates Promela to input for the Slugs synthesizer and is written in Python. The AMBA AHB bus case study is revisited and synthesized efficiently, identifying the need to reorder binary decision diagrams during strategy construction, in order to prevent the exponential blowup observed in previous work.Comment: In Proceedings SYNT 2015, arXiv:1602.0078

Validity-Guided Synthesis of Reactive Systems from Assume-Guarantee Contracts

Automated synthesis of reactive systems from specifications has been a topic of research for decades. Recently, a variety of approaches have been proposed to extend synthesis of reactive systems from proposi- tional specifications towards specifications over rich theories. We propose a novel, completely automated approach to program synthesis which reduces the problem to deciding the validity of a set of forall-exists formulas. In spirit of IC3 / PDR, our problem space is recursively refined by blocking out regions of unsafe states, aiming to discover a fixpoint that describes safe reactions. If such a fixpoint is found, we construct a witness that is directly translated into an implementation. We implemented the algorithm on top of the JKind model checker, and exercised it against contracts written using the Lustre specification language. Experimental results show how the new algorithm outperforms JKinds already existing synthesis procedure based on k-induction and addresses soundness issues in the k-inductive approach with respect to unrealizable results.Comment: 18 pages, 5 figures, 2 table

Diamonds are not forever: Liveness in reactive programming with guarded recursion

When designing languages for functional reactive programming (FRP) the main challenge is to provide the user with a simple, flexible interface for writing programs on a high level of abstraction while ensuring that all programs can be implemented efficiently in a low-level language. To meet this challenge, a new family of modal FRP languages has been proposed, in which variants of Nakano's guarded fixed point operator are used for writing recursive programs guaranteeing properties such as causality and productivity. As an apparent extension to this it has also been suggested to use Linear Temporal Logic (LTL) as a language for reactive programming through the Curry-Howard isomorphism, allowing properties such as termination, liveness and fairness to be encoded in types. However, these two ideas are in conflict with each other, since the fixed point operator introduces non-termination into the inductive types that are supposed to provide termination guarantees. In this paper we show that by regarding the modal time step operator of LTL a submodality of the one used for guarded recursion (rather than equating them), one can obtain a modal type system capable of expressing liveness properties while retaining the power of the guarded fixed point operator. We introduce the language Lively RaTT, a modal FRP language with a guarded fixed point operator and an `until' type constructor as in LTL, and show how to program with events and fair streams. Using a step-indexed Kripke logical relation we prove operational properties of Lively RaTT including productivity and causality as well as the termination and liveness properties expected of types from LTL. Finally, we prove that the type system of Lively RaTT guarantees the absence of implicit space leaks

Observation and abstract behaviour in specification and implementation of state-based systems

Classical algebraic specification is an accepted framework for specification. A criticism which applies is the fact that it is functional, not based on a notion of state as most software development and implementation languages are. We formalise the idea of a state-based object or abstract machine using algebraic means. In contrast to similar approaches we consider dynamic logic instead of equational logic as the framework for specification and implementation. The advantage is a more expressive language allowing us to specify safety and liveness conditions. It also allows a clearer distinction of functional and state-based parts which require different treatment in order to achieve behavioural abstraction when necessary. We shall in particular focus on abstract behaviour and observation. A behavioural notion of satisfaction for state-elements is needed in order to abstract from irrelevant details of the state realisation

Refinement Calculus of Reactive Systems

Refinement calculus is a powerful and expressive tool for reasoning about sequential programs in a compositional manner. In this paper we present an extension of refinement calculus for reactive systems. Refinement calculus is based on monotonic predicate transformers, which transform sets of post-states into sets of pre-states. To model reactive systems, we introduce monotonic property transformers, which transform sets of output traces into sets of input traces. We show how to model in this semantics refinement, sequential composition, demonic choice, and other semantic operations on reactive systems. We use primarily higher order logic to express our results, but we also show how property transformers can be defined using other formalisms more amenable to automation, such as linear temporal logic (suitable for specifications) and symbolic transition systems (suitable for implementations). Finally, we show how this framework generalizes previous work on relational interfaces so as to be able to express systems with infinite behaviors and liveness properties

Desynchronization: Synthesis of asynchronous circuits from synchronous specifications

Asynchronous implementation techniques, which measure logic delays at run time and activate registers accordingly, are inherently more robust than their synchronous counterparts, which estimate worst-case delays at design time, and constrain the clock cycle accordingly. De-synchronization is a new paradigm to automate the design of asynchronous circuits from synchronous specifications, thus permitting widespread adoption of asynchronicity, without requiring special design skills or tools. In this paper, we first of all study different protocols for de-synchronization and formally prove their correctness, using techniques originally developed for distributed deployment of synchronous language specifications. We also provide a taxonomy of existing protocols for asynchronous latch controllers, covering in particular the four-phase handshake protocols devised in the literature for micro-pipelines. We then propose a new controller which exhibits provably maximal concurrency, and analyze the performance of desynchronized circuits with respect to the original synchronous optimized implementation. We finally prove the feasibility and effectiveness of our approach, by showing its application to a set of real designs, including a complete implementation of the DLX microprocessor architectur

SOTER: A Runtime Assurance Framework for Programming Safe Robotics Systems

The recent drive towards achieving greater autonomy and intelligence in robotics has led to high levels of complexity. Autonomous robots increasingly depend on third party off-the-shelf components and complex machine-learning techniques. This trend makes it challenging to provide strong design-time certification of correct operation. To address these challenges, we present SOTER, a robotics programming framework with two key components: (1) a programming language for implementing and testing high-level reactive robotics software and (2) an integrated runtime assurance (RTA) system that helps enable the use of uncertified components, while still providing safety guarantees. SOTER provides language primitives to declaratively construct a RTA module consisting of an advanced, high-performance controller (uncertified), a safe, lower-performance controller (certified), and the desired safety specification. The framework provides a formal guarantee that a well-formed RTA module always satisfies the safety specification, without completely sacrificing performance by using higher performance uncertified components whenever safe. SOTER allows the complex robotics software stack to be constructed as a composition of RTA modules, where each uncertified component is protected using a RTA module. To demonstrate the efficacy of our framework, we consider a real-world case-study of building a safe drone surveillance system. Our experiments both in simulation and on actual drones show that the SOTER-enabled RTA ensures the safety of the system, including when untrusted third-party components have bugs or deviate from the desired behavior