A functional approach to heterogeneous computing in embedded systems

Developing programs for embedded systems presents quite a challenge; not only should programs be resource efficient, as they operate under memory and timing constraints, but they should also take full advantage of the hardware to achieve maximum performance. Since performance is such a significant factor in the design of embedded systems, modern systems typically incorporate more than one kind of processing element to benefit from specialized processing capabilities. For such heterogeneous systems the challenge in developing programs is even greater.In this thesis we explore a functional approach to heterogeneous system development as a means to address many of the modularity problems that are typically found in the application of low-level imperative programming for embedded systems. In particular, we explore a staged hardware software co-design language that we name Co-Feldspar and embed in Haskell. The staged approach enables designers to build their applications from reusable components and skeletons while retaining control over much of the generated source code. Furthermore, by embedding the language in Haskell we can exploit its type classes to write not only hardware and software programs, but also generic programs with overloaded instructions and expressions. We demonstrate the usefulness of the functional approach for co-design on a cryptographic example and signal processing filters, and benchmark software and mixed hardware-software implementations. Co-Feldspar currently adopts a monadic interface, which provides an imperative functional programming style that is suitable for explicit memory management and algorithms that rely on a certain evaluation order. For algorithms that are better defined as pure functions operating on immutable values, we provide a signal and array library that extends a monadic language, like Co-Feldspar. These extensions permit a functional style of programming by composing high-level combinators. Our compiler transforms such high-level code into efficient programs with mutating code. In particular, we show how to execute an FFT safely in-place, and how to describe a FIR and IIR filter efficiently as streams. Co-Feldspar’s monadic interface is however quite invasive; not only is the burden of explicit memory management quite heavy on the user, it is also quite easy to shoot on eself in the foot. It is for these reasons that we also explore a dynamic memory management discipline that is based on regions but predictable enough to be of use for embedded systems. Specifically, this thesis introduces a program analysis which annotates values with dynamically allocated memory regions. By limiting our efforts to functional languages that target embedded software, we manage to define a region inference algorithm that is considerably simpler than traditional approaches

The Standard Model for Programming Languages: The Birth of a Mathematical Theory of Computation

International audienceDespite the insight of some of the pioneers (Turing, von Neumann, Curry, Böhm), programming the early computers was a matter of fiddling with small architecture-dependent details. Only in the sixties some form of "mathematical program development" will be in the agenda of some of the most influential players of that time. A "Mathematical Theory of Computation" is the name chosen by John McCarthy for his approach, which uses a class of recursively computable functions as an (extensional) model of a class of programs. It is the beginning of that grand endeavour to present programming as a mathematical activity, and reasoning on programs as a form of mathematical logic. An important part of this process is the standard model of programming languages-the informal assumption that the meaning of programs should be understood on an abstract machine with unbounded resources, and with true arithmetic. We present some crucial moments of this story, concluding with the emergence, in the seventies, of the need of more "intensional" semantics, like the sequential algorithms on concrete data structures. The paper is a small step of a larger project-reflecting and tracing the interaction between mathematical logic and programming (languages), identifying some of the driving forces of this process. To Maurizio Gabbrielli, on his 60th birthda

Retrofitting Typestates into Rust

As software becomes more prevalent in our lives, bugs are able to cause significant disruption. Thus, preventing them becomes a priority when trying to develop dependable systems. While reducing their occurrence possibility to zero is infeasible, existing approaches are able to eliminate certain subsets of bugs. Rust is a systems programming language that addresses memory-related bugs by design, eliminating bugs like use-after-free. To achieve this, Rust leverages the type system along with information about object lifetimes, allowing the compiler to keep track of objects throughout the program and checking for memory misusage. While preventing memory-related bugs goes a long way in software security, other categories of bugs remain in Rust. One of which would be Application Programming Interface (API) misusage, where the developer does not respect constraints put in place by an API, thus resulting in the program crashing. Typestates elevate state to the type level, allowing for the enforcement of API constraints at compile-time, relieving the developer from the burden that is keeping track of the possible computation states at runtime, and preventing possible API misusage during development. While Rust does not support typestates by design, the type system is powerful enough to express and validate typestates. I propose a new macro-based approach to deal with typestates in Rust; this approach provides an embedded Domain-Specific Language (DSL) which allows developers to express typestates using only existing Rust syntax. Furthermore, Rust’s macro system is leveraged to extract a state machine out of the typestate specification and then perform compile-time checks over the specification. Afterwards we leverage Rust’s type system to check protocol-compliance. The DSL avoids workflow-bloat by requiring nothing but a Rust compiler and the library itself.À medida que as nossas vidas estão cada vez mais dependentes de software, os erros do mesmo têm o potencial de causar problemas significativos. Prevenir estes erros torna-se uma tarefa prioritária durante o desenvolvimento de sistemas confiáveis. Erradicar erros por completo é impossível, mas é possível eliminar certos conjuntos. Rust é uma linguagem de programação de sistemas que, por desenho, endereça erros de gestão de memória. Para o conseguir, a linguagem inclui no sistema de tipos informação sobre o tempo de vida dos objetos, permitindo assim que o compilador conheça a utilização dos mesmos e detecte erros de utilização de memória. Apesar da prevenção de erros de memória ter um papel importante na segurança de software, existem ainda outras categorias de erros em Rust, como o uso incorrecto de interfaces de programação, em que o programador não respeita as restrições impostas pela mesma, o que resulta numa falha do programa. Typestates elevam o conceito de estado para o sistema de tipos, permitindo a aplicação das restrições da interface durante a fase de compilação. Este conceito permite assim aliviar o programador da responsabilidade que é conceptualizar e manter o estado do programa em mente durante o desenvolvimento, prevenindo o mau uso das interfaces. Apesar de Rust não suportar typestates de uma forma natural, o sistema de tipos permite expressar e validar typestates. Proponho uma nova abordagem de modo a lidar com typestates em Rust, tal abordagem é baseada numa DSL embebida na linguagem, permitindo assim a descrição de typestates usando apenas a sintaxe existente. A DSL vai mais além e providencia ainda verificações estáticas sobre a especificação, tirando proveito do sistema de macros, extrai uma máquina de estados que é depois verificada, por fim, a verificação de conformidade é feita pelo compilador, tirando proveito do sistema de tipos. A DSL evita poluição do ambiente trabalho, requerendo apenas um compilador de Rust e a sua própria biblioteca

Applying Formal Methods to Networking: Theory, Techniques and Applications

Despite its great importance, modern network infrastructure is remarkable for the lack of rigor in its engineering. The Internet which began as a research experiment was never designed to handle the users and applications it hosts today. The lack of formalization of the Internet architecture meant limited abstractions and modularity, especially for the control and management planes, thus requiring for every new need a new protocol built from scratch. This led to an unwieldy ossified Internet architecture resistant to any attempts at formal verification, and an Internet culture where expediency and pragmatism are favored over formal correctness. Fortunately, recent work in the space of clean slate Internet design---especially, the software defined networking (SDN) paradigm---offers the Internet community another chance to develop the right kind of architecture and abstractions. This has also led to a great resurgence in interest of applying formal methods to specification, verification, and synthesis of networking protocols and applications. In this paper, we present a self-contained tutorial of the formidable amount of work that has been done in formal methods, and present a survey of its applications to networking.Comment: 30 pages, submitted to IEEE Communications Surveys and Tutorial

A new parallelisation technique for heterogeneous CPUs

Parallelization has moved in recent years into the mainstream compilers, and the demand for parallelizing tools that can do a better job of automatic parallelization is higher than ever. During the last decade considerable attention has been focused on developing programming tools that support both explicit and implicit parallelism to keep up with the power of the new multiple core technology. Yet the success to develop automatic parallelising compilers has been limited mainly due to the complexity of the analytic process required to exploit available parallelism and manage other parallelisation measures such as data partitioning, alignment and synchronization. This dissertation investigates developing a programming tool that automatically parallelises large data structures on a heterogeneous architecture and whether a high-level programming language compiler can use this tool to exploit implicit parallelism and make use of the performance potential of the modern multicore technology. The work involved the development of a fully automatic parallelisation tool, called VSM, that completely hides the underlying details of general purpose heterogeneous architectures. The VSM implementation provides direct and simple access for users to parallelise array operations on the Cell’s accelerators without the need for any annotations or process directives. This work also involved the extension of the Glasgow Vector Pascal compiler to work with the VSM implementation as a one compiler system. The developed compiler system, which is called VP-Cell, takes a single source code and parallelises array expressions automatically. Several experiments were conducted using Vector Pascal benchmarks to show the validity of the VSM approach. The VP-Cell system achieved significant runtime performance on one accelerator as compared to the master processor’s performance and near-linear speedups over code runs on the Cell’s accelerators. Though VSM was mainly designed for developing parallelising compilers it also showed a considerable performance by running C code over the Cell’s accelerators

EOOLT 2007 – Proceedings of the 1st International Workshop on Equation-Based Object-Oriented Languages and Tools

Computer aided modeling and simulation of complex systems, using components from multiple application domains, such as electrical, mechanical, hydraulic, control, etc., have in recent years witness0065d a significant growth of interest. In the last decade, novel equation-based object-oriented (EOO) modeling languages, (e.g. Mode- lica, gPROMS, and VHDL-AMS) based on acausal modeling using equations have appeared. Using such languages, it has become possible to model complex systems covering multiple application domains at a high level of abstraction through reusable model components. The interest in EOO languages and tools is rapidly growing in the industry because of their increasing importance in modeling, simulation, and specification of complex systems. There exist several different EOO language communities today that grew out of different application areas (multi-body system dynamics, electronic circuit simula- tion, chemical process engineering). The members of these disparate communities rarely talk to each other in spite of the similarities of their modeling and simulation needs. The EOOLT workshop series aims at bringing these different communities together to discuss their common needs and goals as well as the algorithms and tools that best support them. Despite the short deadlines and the fact that this is a new not very established workshop series, there was a good response to the call-for-papers. Thirteen papers and one presentation were accepted to the workshop program. All papers were subject to reviews by the program committee, and are present in these electronic proceedings. The workshop program started with a welcome and introduction to the area of equa- tion-based object-oriented languages, followed by paper presentations and discussion sessions after presentations of each set of related papers. On behalf of the program committee, the Program Chairmen would like to thank all those who submitted papers to EOOLT'2007. Special thanks go to David Broman who created the web page and helped with organization of the workshop. Many thanks to the program committee for reviewing the papers. EOOLT'2007 was hosted by the Technical University of Berlin, in conjunction with the ECOOP'2007 conference

1st doctoral symposium of the international conference on software language engineering (SLE) : collected research abstracts, October 11, 2010, Eindhoven, The Netherlands

The first Doctoral Symposium to be organised by the series of International Conferences on Software Language Engineering (SLE) will be held on October 11, 2010 in Eindhoven, as part of the 3rd instance of SLE. This conference series aims to integrate the different sub-communities of the software-language engineering community to foster cross-fertilisation and strengthen research overall. The Doctoral Symposium at SLE 2010 aims to contribute towards these goals by providing a forum for both early and late-stage Ph.D. students to present their research and get detailed feedback and advice from researchers both in and out of their particular research area. Consequently, the main objectives of this event are: – to give Ph.D. students an opportunity to write about and present their research; – to provide Ph.D. students with constructive feedback from their peers and from established researchers in their own and in different SLE sub-communities; – to build bridges for potential research collaboration; and – to foster integrated thinking about SLE challenges across sub-communities. All Ph.D. students participating in the Doctoral Symposium submitted an extended abstract describing their doctoral research. Based on a good set of submisssions we were able to accept 13 submissions for participation in the Doctoral Symposium. These proceedings present final revised versions of these accepted research abstracts. We are particularly happy to note that submissions to the Doctoral Symposium covered a wide range of SLE topics drawn from all SLE sub-communities. In selecting submissions for the Doctoral Symposium, we were supported by the members of the Doctoral-Symposium Selection Committee (SC), representing senior researchers from all areas of the SLE community.We would like to thank them for their substantial effort, without which this Doctoral Symposium would not have been possible. Throughout, they have provided reviews that go beyond the normal format of a review being extra careful in pointing out potential areas of improvement of the research or its presentation. Hopefully, these reviews themselves will already contribute substantially towards the goals of the symposium and help students improve and advance their work. Furthermore, all submitting students were also asked to provide two reviews for other submissions. The members of the SC went out of their way to comment on the quality of these reviews helping students improve their reviewing skills

1st doctoral symposium of the international conference on software language engineering (SLE) : collected research abstracts, October 11, 2010, Eindhoven, The Netherlands

The first Doctoral Symposium to be organised by the series of International Conferences on Software Language Engineering (SLE) will be held on October 11, 2010 in Eindhoven, as part of the 3rd instance of SLE. This conference series aims to integrate the different sub-communities of the software-language engineering community to foster cross-fertilisation and strengthen research overall. The Doctoral Symposium at SLE 2010 aims to contribute towards these goals by providing a forum for both early and late-stage Ph.D. students to present their research and get detailed feedback and advice from researchers both in and out of their particular research area. Consequently, the main objectives of this event are: – to give Ph.D. students an opportunity to write about and present their research; – to provide Ph.D. students with constructive feedback from their peers and from established researchers in their own and in different SLE sub-communities; – to build bridges for potential research collaboration; and – to foster integrated thinking about SLE challenges across sub-communities. All Ph.D. students participating in the Doctoral Symposium submitted an extended abstract describing their doctoral research. Based on a good set of submisssions we were able to accept 13 submissions for participation in the Doctoral Symposium. These proceedings present final revised versions of these accepted research abstracts. We are particularly happy to note that submissions to the Doctoral Symposium covered a wide range of SLE topics drawn from all SLE sub-communities. In selecting submissions for the Doctoral Symposium, we were supported by the members of the Doctoral-Symposium Selection Committee (SC), representing senior researchers from all areas of the SLE community.We would like to thank them for their substantial effort, without which this Doctoral Symposium would not have been possible. Throughout, they have provided reviews that go beyond the normal format of a review being extra careful in pointing out potential areas of improvement of the research or its presentation. Hopefully, these reviews themselves will already contribute substantially towards the goals of the symposium and help students improve and advance their work. Furthermore, all submitting students were also asked to provide two reviews for other submissions. The members of the SC went out of their way to comment on the quality of these reviews helping students improve their reviewing skills

A parallel functional language compiler for message-passing multicomputers

The research presented in this thesis is about the design and implementation of Naira, a parallel, parallelising compiler for a rich, purely functional programming language. The source language of the compiler is a subset of Haskell 1.2. The front end of Naira is written entirely in the Haskell subset being compiled. Naira has been successfully parallelised and it is the largest successfully parallelised Haskell program having achieved good absolute speedups on a network of SUN workstations. Having the same basic structure as other production compilers of functional languages, Naira's parallelisation technology should carry forward to other functional language compilers. The back end of Naira is written in C and generates parallel code in the C language which is envisioned to be run on distributed-memory machines. The code generator is based on a novel compilation scheme specified using a restricted form of Milner's 7r-calculus which achieves asynchronous communication. We present the first working implementation of this scheme on distributed-memory message-passing multicomputers with split-phase transactions. Simulated assessment of the generated parallel code indicates good parallel behaviour. Parallelism is introduced using explicit, advisory user annotations in the source' program and there are two major aspects of the use of annotations in the compiler. First, the front end of the compiler is parallelised so as to improve its efficiency at compilation time when it is compiling input programs. Secondly, the input programs to the compiler can themselves contain annotations based on which the compiler generates the multi-threaded parallel code. These, therefore, make Naira, unusually and uniquely, both a parallel and a parallelising compiler. We adopt a medium-grained approach to granularity where function applications form the unit of parallelism and load distribution. We have experimented with two different task distribution strategies, deterministic and random, and have also experimented with thread-based and quantum- based scheduling policies. Our experiments show that there is little efficiency difference for regular programs but the quantum-based scheduler is the best in programs with irregular parallelism. The compiler has been successfully built, parallelised and assessed using both idealised and realistic measurement tools: we obtained significant compilation speed-ups on a variety of simulated parallel architectures. The simulated results are supported by the best results obtained on real hardware for such a large program: we measured an absolute speedup of 2.5 on a network of 5 SUN workstations. The compiler has also been shown to have good parallelising potential, based on popular test programs. Results of assessing Naira's generated unoptimised parallel code are comparable to those produced by other successful parallel implementation projects