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HWU Progress

HWU Progress. Robert Pointon & Greg Michaelson EmBounded Project Meeting Islay. Overview. Compiler Hume problem solving environment Hierarchical Hume Hardware - robots, m32c Related work Future work. Compiler. Unboxing Basic 1+1 for simple types - done Basic wire/heap copy - done

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HWU Progress

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  1. HWU Progress Robert Pointon & Greg Michaelson EmBounded Project Meeting Islay

  2. Overview • Compiler • Hume problem solving environment • Hierarchical Hume • Hardware - robots, m32c • Related work • Future work

  3. Compiler • Unboxing • Basic 1+1 for simple types - done • Basic wire/heap copy - done • I/O - work in progress • ccall - not started (but will follow I/O design) • Structured types on wires, generic operators (show, ==), and exceptions - planning

  4. Hume IDE

  5. Hume IDE • Import/export of Hume programs nearing completion • Priorities now shifted back to compiler • Require efficient Hume performance • especially for vision algorithms • to give realistic real-time demos • Time costing requires better code gen • Currently too generic and unbounded

  6. Hierarchical Hume • Idea: • A box can itself be another Hume program • Need to be able to define termination of nested programs • Can use the existing box patterns to specify pre/post conditions of nested program and thus constraints on behavior! • Observation: • A box need not be a Hume program, could be anything in any language, thus gives component based design!

  7. Features • Specify termination condition for the scheduling child boxes, thus: • Can reason about parent box without considering it’s children • Can reason about child boxes without considering parent box context • Namespace for functions and types • Stateless boxes means no I/O defined in nested boxes - still being debated… • Unhandled exceptions propagate up hierarchy

  8. Example box foo in (i::int 32) out (o::string, p::int 32) match (i) -> (_, i+1) -- ‘_’ means some result, so RHS is a pattern!? boxes -- start nesting box bar in (i::int 32) out (o::string, p::int 32) match (x) -> ((x, ’\n’) as string, x+1); wire bar (i) (o, p); -- parent box name isn’t required end; -- finish nesting

  9. Status • Several papers written with Gudmund Grov • Supported in Hume front-end - parser, macro expansion, etc • Working in Hume interpreter! • Not supported in Hume compiler • would need work on type checker (function/type namespace) and HAM code generation • Would require re-think of C code generation • Suggest delaying until any later redesign for multi-threading and better box scheduling… not this project…

  10. Hardware - robot • Algorithms are a bit too slow for convincing demos • Unboxing will help • Issues with I/O • Spins rather than waits, so multiple Hume programs tend to use up CPU power quickly • Everything via sockets • Must remember to turn off all debugging, and allow the C compiler to optimize!

  11. Hardware - m32c • Expansion Memory • £@&%^$ tech support from companies… • Two weeks time from electronics RA and no further forward… suggestions? • I/O and Debugging • New ModSDK board is much nicer! • LCD, extra serial ports, etc • But m32c87 - how different from ‘85’?

  12. Related PhD Work • Gudmund Grov • Hume coordination layer in TLA • scheduling proof in TLA • self-out & Hierarchical Hume are conservative extensions of super-step scheduling • TLA in Isabelle • box calculus • TFP 8 paper accepted

  13. Related PhD Work • Chunxu Liu • HW-Hume in Isabelle • correctness proofs of multi-box H-W Hume programs from standard repertoire • writing PhD

  14. SEAS DTC Project • Hume WCET analysis/evaluation • object tracking algorithms in Hume & Matlab/C++ • Hume integrated in Pioneer AT-P3 system

  15. SEAS DTC Project C motor API Hume Java GUI WiFi WiFi C image API Hume C pan/tilt API Hume Laptop Pioneer AT-P3

  16. Future work • complete unboxing • complete base IDE • deliverables • Robert Pointon leaves Dec 2007 • SEAS DTC ends Dec 2007

  17. Future Work • EU FP7 EmBounded 2... • EPSRC – 2007/10 • sensor networks/DSP/dynamic configuration • HWU & St A with Edinburgh & Queens Uni Belfast • SEAS DTC – 2008/11 • compositional framework/component based simulation • HWU & StA with Waterfall Solutions

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