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Higher-Order functional reactive programming without Spacetime Leaks

ACM SIGPLAN NOTICES 2013年第9期48卷 221-232页

作者： Krishnaswami, Neelakantan R. Max Planck Inst Software Syst MPI SWS Saarbrucken Germany

functional reactive programming (FRP) is an elegant approach to declaratively specify reactive systems. However, the powerful abstractions of FRP have historically made it difficult to predict and control the resource usage of programs written in this style. In this paper, we give a new language for higher-order reactive programming. Our language generalizes and simplifies prior type systems for reactive programming, by supporting the use of streams of streams, first-class functions, and higher-order operations. We also support many temporal operations beyond streams, such as terminatable streams, events, and even resumptions with first-class schedulers. Furthermore, our language supports an efficient implementation strategy permitting us to eagerly deallocate old values and statically rule out spacetime leaks, a notorious source of inefficiency in reactive programs. Furthermore, these memory guarantees are achieved without the use of a complex substructural type discipline. We also show that our implementation strategy of eager deallocation is safe, by showing the soundness of our type system with a novel step-indexed Kripke logical relation.

关键词： functional reactive programming Kripke logical relations temporal logic guarded recursion dataflow capabilities comonads

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Towards Introducing Asynchronous Tasks to an FRP Language for Small-Scale Embedded Systems 9

Towards Introducing Asynchronous Tasks to an FRP Language fo...

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6th International Workshop on reactive and Event-Based Languages and Systems (REBLS)

作者： Yokoyama, Akihiko Moriguchi, Sosuke Watanabe, Takuo Tokyo Inst Technol Tokyo Japan

ISBN: (纸本)9781450399111

Emfrp is a functional reactive programming language designed for small embedded systems. By imposing certain restrictions on the language mechanism, the language guarantees the termination of the update process for each time-varying value and enables static determination of the amount of memory required for execution. This allows Emfrp programs to run safely even in resource-constrained execution environments. However, the abovementioned restrictions make it difficult to write time-consuming operations (heavy tasks) such as graph structure construction and exploration based on external data. Moreover, since Emfrp updates time-varying values synchronously, a naive implementation of such heavy tasks using external function calls will result in a slow response time to input. Some existing programming languages provide asynchronous processing mechanisms to ensure descriptiveness and responsiveness for heavy tasks. In this study, we propose a method to introduce heavy tasks into reactive programs naturally by introducing language mechanisms equivalent to asynchronous processing mechanisms, such as future and promise, into Emfrp. In this paper, we first discuss the problems with a naive implementation of heavy tasks in Emfrp, then explain the proposed method based on an example, and discuss the language runtime implementation.

关键词： functional reactive programming asynchronous tasks promise embedded systems

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ROSY: An elegant language to teach the pure reactive nature of robot programming 4

ROSY: An elegant language to teach the pure reactive nature ...

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4th IEEE International Conference on Robotic Computing (IEEE IRC)

作者： Pacheco, Hugo Macedo, Nuno Univ Minho Braga Portugal INESC TEC Porto Portugal

ISBN: (纸本)9781728152370

Robotics is very appealing and is long recognized as a great way to teach programming, while drawing inspiring connections to other branches of engineering and science such as maths, physics or electronics. Although this symbiotic relation-ship between robotics and programming is perceived as largely beneficial, educational approaches often feel the need to hide the underlying complexity of the robotic system, but as a result fail to transmit the reactive essence of robot programming to the roboticists and programmers of the future. This paper presents ROSE, a novel language for teaching novice programmers through robotics. Its functional style is both familiar with a high-school algebra background and a materialization of the inherent reactive nature of robotic programming. Working at a higher-level of abstraction also teaches valuable design principles of decomposition of robotics software into collections of interacting controllers. Despite its simplicity, ROSY is completely valid Haskell code compatible with the ROS ecosystem. We make a convincing case for our language by demonstrating how non-trivial applications can be expressed with ease and clarity, exposing its sound functional programming foundations, and developing a web-enabled robot programming environment.

关键词： functional programming functional reactive programming introductory programming robot programming

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Diamonds Are Not Forever

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PROCEEDINGS OF THE ACM ON programming LANGUAGES-PACMPL 2021年第POPL期5卷 1–28页

作者： Bahr, Patrick Graulund, Christian Uldal Mogelberg, Rasmus Ejlers IT Univ Copenhagen Copenhagen Denmark

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.

关键词： functional reactive programming Modal Types Linear Temporal Logic Synchronous Data Flow Languages Type Systems

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Asynchronous functional reactive programming for GUIs 13

Asynchronous Functional Reactive Programming for GUIs

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ACM SIGPLAN Conference on programming Language Design and Implementation

作者： Evan Czaplicki Stephen Chong Harvard University

ISBN: (纸本)9781450320146

Graphical user interfaces (GUIs) mediate many of our interactions with computers. functional reactive programming (FRP) is a promising approach to GUI design, providing high-level, declarative, compositional abstractions to describe user interactions and time-dependent computations. We present Elm, a practical FRP language focused on easy creation of responsive GUIs. Elm has two major features: simple declarative support for Asynchronous FRP; and purely functional graphical layout. Asynchronous FRP allows the programmer to specify when the global ordering of event processing can be violated, and thus enables efficient concurrent execution of FRP programs; long-running computation can be executed asynchronously and not adversely affect the responsiveness of the user interface. Layout in Elm is achieved using a purely functional declarative framework that makes it simple to create and combine text, images, and video into rich multimedia displays. Together, Elm's two major features simplify the complicated task of creating responsive and usable GUIs.

关键词： functional reactive programming Graphical User Interfaces Languages Design graphical user interfaces Language Asynchronous Elm fibre reinforced plastics FRP reactive programming event processing Computer personnel functionalS

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Semantic Mapping from SysML to FRP: to Enable Executable and Verifiable Systems Design 15

Semantic Mapping from SysML to FRP: to Enable Executable and...

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15th Annual IEEE International Systems Conference (SysCon)

作者： Huang, Jingwei Khallouli, Wael Holly, Handley A. H. Edmonson, William Ahmed, Trisha Kibret, Nadew Old Dominion Univ Engn Management & Syst Engn Norfolk VA 23529 USA NC A&T State Univ Elect & Comp Engn Greensboro NC USA

ISBN: (纸本)9781665444392

The emerging Digital Engineering demands digital representation of the system of interest and sharing models and data across the boundaries of organizations and the boundaries of the engineering lifecycle. Towards this direction, it is critical to develop systems modeling languages and tools that accommodate Digital Engineering. This paper presents our research on semantic mapping from System Modeling Language (SysML) to functional reactive programming (FRP) with the goal of developing computing mechanisms with functional reactive programming to support executable and verifiable SysML model specification.

关键词： Digital Engineering Model-Based Systems Engineering SysML functional reactive programming Semantic mapping Executable & verifiable systems design Modeling language and tools

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Simply RaTT: A Fitch-Style Modal Calculus for reactive programming without Space Leaks

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PROCEEDINGS OF THE ACM ON programming LANGUAGES-PACMPL 2019年第ICFP期3卷 1-27页

作者： Bahr, Patrick Graulund, Christian Uldal Mogelberg, Rasmus Ejlers IT Univ Copenhagen Copenhagen Denmark

functional reactive programming (FRP) is a paradigm for programming with signals and events, allowing the user to describe reactive programs on a high level of abstraction. For this to make sense, an FRP language must ensure that all programs are causal, and can be implemented without introducing space leaks and time leaks. To this end, some FRP languages do not give direct access to signals, but just to signal functions. Recently, modal types have been suggested as an alternative approach to ensuring causality in FRP languages in the synchronous case, giving direct access to the signal and event abstractions. This paper presents Simply RaTT: a new modal calculus for reactive programming. Unlike prior calculi, Simply RaTT uses a Fitch-style approach to modal types, which simplifies the type system and makes programs more concise. Echoing a previous result by Krishnaswami for a different language, we devise an operational semantics that safely executes Simply RaTT programs without space leaks. We also identify a source of time leaks present in other modal FRP languages: The unfolding of fixed points in delayed computations. The Fitch-style presentation allows an easy way to rules out these leaks, which appears not to be possible in the more traditional dual context approach.

关键词： functional reactive programming Modal types Synchronous data flow languages Type systems Garbage collection

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Higher-Order functional reactive programming in Bounded Space 12

Higher-Order Functional Reactive Programming in Bounded Spac...

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39th Annual ACM SIGPLAN-SIGACT Symposium on Principles of programming Languages

作者： Krishnaswami, Neelakantan R. Benton, Nick Hoffmann, Jan Max Planck Institute for Software Systems Saarbruecken Germany Microsoft Research Cambridge United Kingdom Yale University New Haven CT USA

ISBN: (纸本)9781450310833

functional reactive programming (FRP) is an elegant and successful approach to programming reactive systems declaratively. The high levels of abstraction and expressivity that make FRP attractive as a programming model do, however, often lead to programs whose resource usage is excessive and hard to predict. In this paper, we address the problem of space leaks in discrete-time functional reactive programs. We present a functional reactive programming language that statically bounds the size of the dataflow graph a reactive program creates, while still permitting use of higher-order functions and higher-type streams such as streams of streams. We achieve this with a novel linear type theory that both controls allocation and ensures that all recursive definitions are well-founded. We also give a denotational semantics for our language by combining recent work on metric spaces for the interpretation of higher-order causal functions with length-space models of space-bounded computation. The resulting category is doubly closed and hence forms a model of the logic of bunched implications.

关键词： functional reactive programming dataflow space-bounded computation linear logic bunched implications

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Scripted Signal Functions 13

Scripted Signal Functions

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13th International Symposium on Haskell (Haskell)

作者： Stuart, David A.

ISBN: (纸本)9781450380508

programming time-dependent signals like animations involves expressing both continuous and discrete changes in signal values. The method of functional reactive programming (FRP) represents this simply and effectively as discrete modes of an otherwise continuous signal. In variants of FRP based on arrows, programs are composed not of signals but rather functions on signals. Accordingly, these signal functions can switch between discrete modes of operation. However, the literature emphasizes expressions of mode switching that are unnecessarily limited. An analysis of their limitations indicates the need for two new, primitive transformations of signal functions. These transformations help to define a monad that represents signal function modes, and this allows programmers to express switching in an imperative, script-like style. This scripting interface gains flexibility and power from several novel operations, including a general-purpose mapping between modes and a combination that mixes two concurrent modes into one. We demonstrate its usefulness with several examples.

关键词： functional reactive programming Haskell

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Towards a Common Categorical Semantics for Linear-Time Temporal Logic and functional reactive programming

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ELECTRONIC NOTES IN THEORETICAL COMPUTER SCIENCE 2012年 286卷 229-242页

作者： Jeltsch, Wolfgang TTU Kuberneetika Inst Tallinn Estonia

Linear-time temporal logic (LTL) and functional reactive programming (FRP) are related via a Curry-Howard correspondence. Based on this observation, we develop a common categorical semantics for a subset of LTL and its corresponding flavor of FRP. We devise a class of categorical models, called fan categories, that explicitly reflect the notion of time-dependent trueness of temporal propositions and a corresponding notion of time-dependent type inhabitance in FRP. Afterwards, we define the more abstract concept of temporal category by extending categorical models of intuitionistic S4. We show that fan categories are a special form of temporal categories.

关键词： temporal logic modal logic functional reactive programming categorical semantics

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