Slides from my GOTO Aarhus talk, 1st Oct 2012.

1. The Actor Model applied to the
Raspberry Pi and the
Embedded Domain
Omer Kilic || @OmerK
omer@erlang-solutions.com

2. Agenda
•
•
•
•
•
•
•
Current state of Embedded Systems
Overview of the Actor Model
Erlang Embedded Project
Modelling and developing systems using Erlang
Experiments with the Raspberry Pi
Future Explorations
Q&A
03/12/2012
Tech Mesh London
Slide 2 of 45

3. Embedded Systems
“
An embedded system is a computer system designed for
specific control functions within a larger system, often
with real-time computing constraints. It is embedded as
part of a complete device often including hardware and
mechanical parts. By contrast, a general-purpose
computer, such as a personal computer (PC), is designed
to be flexible and to meet a wide range of end-user needs.
- Infinite Wisdom of Wikipedia
03/12/2012
Tech Mesh London
Slide 3 of 45

4. #include <stats.h>
Source: http://embedded.com/electronics-blogs/programming-pointers/4372180/Unexpected-trends
03/12/2012
Tech Mesh London
Slide 4 of 45

5. Current Challenges
• Complex SoC platforms
• “Internet of Things”
– Connected and distributed systems
• Multicore and/or heterogeneous devices
• Time to market constraints
03/12/2012
Tech Mesh London
Slide 5 of 45

6. Embedded Systems
• Bare Metal
– No underlying OS or high level abstractions
• RTOS
– Minimal interrupt and switching latency,
scheduling guarantees, minimal jitter
• Embedded Linux
– Slimmed down Linux with hardware interfaces
03/12/2012
Tech Mesh London
Slide 6 of 45

7. RTOS Concepts
• Notion of “tasks”
• OS-supervised interprocess messaging
– Shared memory
• Mutexes/Semaphores/Locks
• Scheduling
– Pre-emptive: event driven
– Round-robin: time multiplexed
03/12/2012
Tech Mesh London
Slide 7 of 45

8. Embedded Linux
• Not a new concept, increased popularity due
to abundant supply of cheap boards
– Raspberry Pi, Beagleboard/Beaglebone, Gumstix et al.
• Familiar set of tools for software developers,
new territory for embedded engineers
– No direct mapping for RTOS concepts, especially
tasks
• Complex device driver framework
– Here be dragons
03/12/2012
Tech Mesh London
Slide 8 of 45

9. Actor Model
• Proposed in 1973 by Hewitt, Bishop and Steiger
– “Universal primitives for concurrent computation”
• No shared-state, self-contained and atomic
• Building blocks for modular, distributed and
concurrent systems
• Implemented in a variety of programming
languages
03/12/2012
Tech Mesh London
Slide 9 of 45

10. Actor Model
• Asynchronous message passing
– Messages kept in a mailbox and processed in the
order they are received in
• Upon receiving messages, actors can:
– Make local decisions and change internal state
– Spawn new actors
– Send messages to other actors
03/12/2012
Tech Mesh London
Slide 10 of 45

11. Actor Model
03/12/2012
Tech Mesh London
Slide 11 of 45

12. Actor Model
03/12/2012
Tech Mesh London
Slide 12 of 45

13. Limitations of the Actor Model
• No notion of inheritance or general hierarchy
– Specific to language and library implementation
• Asynchronous message passing can be
problematic for certain applications
– Ordering of messages received from multiple
processes
– Abstract definition may lead to inconsistency in
larger systems
• Fine/Coarse Grain argument
03/12/2012
Tech Mesh London
Slide 13 of 45

14. Erlang Embedded
• Knowledge Transfer Partnership between
Erlang Solutions and University of Kent
– Aim of the project: Bring the benefits of
concurrent systems development using Erlang to
the field of embedded systems; through
investigation, analysis, software development and
evaluation.
http://erlang-embedded.com
03/12/2012
Tech Mesh London
Slide 14 of 45

15. Why Erlang?
• Implements the Actor model
• Battle-tested at Ericsson and many other
companies
– Originally designed for embedded applications
• Support for concurrency and distributed
systems out of the box
• Easy to create robust systems
• (...and more!)
03/12/2012
Tech Mesh London
Slide 15 of 45

16. High Availability/Reliability
• Simple and consistent error recovery and
supervision hierarchies
• Built in fault-tolerance
– Isolation of Actors
• Support for dynamic reconfiguration
– Hot code loading
03/12/2012
Tech Mesh London
Slide 16 of 45

17. Creating an Actor
Pid1
spawn(math, fact, [5])
Pid2
math:fact(5)
03/12/2012
Tech Mesh London
Slide 17 of 45

18. Communication
Pid1
{Pid1, msg}
Pid2
Pid2 ! {self(), msg}
03/12/2012
Tech Mesh London
Slide 18 of 45

19. Bidirectional Links
Pid1
Pid2
link(Pid2)
03/12/2012
Tech Mesh London
Slide 19 of 45

20. Process Error Handling
• Let it Fail!
– Abstract error handling away from the modules
– Results in leaner modules
• Supervision hierarchies
03/12/2012
Tech Mesh London
Slide 20 of 45

21. Propagating Exit Signals
{'EXIT', PidA, Reason}
PidA
PidB
{'EXIT', PidB, Reason}
PidC
03/12/2012
Tech Mesh London
Slide 21 of 45

22. Trapping Exits
process_flag(trap_exit, true)
{'EXIT', PidA, Reason}
PidA
PidB
PidC
03/12/2012
Tech Mesh London
Slide 22 of 45

23. External Interfaces
• Native Implemented Functions (NIFs) and
ports used to interface external world to the
Erlang runtime.
03/12/2012
Tech Mesh London
Slide 23 of 45

24. Erlang, the Maestro
(flickr/dereckesanches)
03/12/2012
Tech Mesh London
Slide 24 of 45

25. Raspberry Pi
•
•
•
•
•
700 MHz ARM11
256 MB DDR2 RAM
10/100Mb Ethernet
2x USB 2.0
(HDMI, Composite
Video, 3.5mm
Stereo Jack, DSI,
CSI-2)
03/12/2012
$35
Tech Mesh London
Slide 25 of 45

26. Raspberry Pi in Education
• The Raspberry Pi Foundation is a
UK registered charity.
• Mission statement: "...to promote
the study of computer science and
related topics, especially at school
level, and to put the fun back into
learning computing."
Future Engineers/Programmers!
(flickr/lebeus)
03/12/2012
Tech Mesh London
Slide 26 of 45

27. Raspberry Pi Peripherals
•
•
•
•
•
•
•
•
03/12/2012
GPIO
UART
I2C
I2S
SPI
PWM
DSI
CSI-2
Tech Mesh London
Slide 27 of 45

28. Accessing peripherals
• Peripherals are memory mapped
• Access via /dev/mem
– Faster, needs root, potentially dangerous!
• Use kernel modules/sysfs
– Slower, doesn’t need root, easier, relatively safer
03/12/2012
Tech Mesh London
Slide 28 of 45

29. GPIO Interface (I)
init(Pin, Direction) ->
{ok, FdExport} = file:open("/sys/class/gpio/export", [write]),
file:write(FdExport, integer_to_list(Pin)),
file:close(FdExport),
{ok, FdPinDir} = file:open("/sys/class/gpio/gpio" ++ integer_to_list(Pin)
++ "/direction", [write]),
case Direction of
in -> file:write(FdPinDir, "in");
out -> file:write(FdPinDir, "out")
end,
file:close(FdPinDir),
{ok, FdPinVal} = file:open("/sys/class/gpio/gpio" ++ integer_to_list(Pin)
++ "/value", [read, write]),
FdPinVal.
03/12/2012
Tech Mesh London
Slide 29 of 45

30. GPIO Interface (II)
write(Fd, Val) ->
file:position(Fd, 0),
file:write(Fd, integer_to_list(Val)).
read(Fd) ->
file:position(Fd, 0),
{ok, Val} = file:read(Fd, 1),
Val.
release(Pin) ->
{ok, FdUnexport} = file:open("/sys/class/gpio/unexport",
[write]),
file:write(FdUnexport, integer_to_list(Pin)),
file:close(FdUnexport).
03/12/2012
Tech Mesh London
Slide 30 of 45

31. Concurrency Demo
http://vimeo.com/40769788
03/12/2012
Tech Mesh London
Slide 31 of 45

32. Example: GPIO
PidA
PidB
PidC
Pin17
???
03/12/2012
Tech Mesh London
Slide 32 of 45

33. Example: GPIO
PidA
PidB
PidC
GPIO
Proxy
Pin17
03/12/2012
Tech Mesh London
Slide 33 of 45

34. GPIO Proxy
• Replaces ‘locks’ in traditional sense of
embedded design
– Access control/mutual exclusion
• Can be used to implement safety constraints
– Toggling rate, sequence detection, direction
control, etc.
03/12/2012
Tech Mesh London
Slide 34 of 45

35. Fine Grain Abstraction
• Advantages
– Application code becomes simpler
– Concise and shorter modules
– Testing becomes easier
– Code re-use (potentially) increases
• Disadvantage
– Architecting fine grain systems is difficult
03/12/2012
Tech Mesh London
Slide 35 of 45

36. Universal Peripheral/Component Modules
03/12/2012
Tech Mesh London
Slide 36 of 45

37. Universal Peripheral/Component Modules
03/12/2012
Tech Mesh London
Slide 37 of 45

38. TI OMAP Reference System
03/12/2012
Tech Mesh London
Slide 38 of 45

39. Hardware Projects – Ponte
03/12/2012
Tech Mesh London
Slide 39 of 45

40. Hardware Projects – Demo Board
03/12/2012
Tech Mesh London
Slide 40 of 45

41. Hardware Simulator
03/12/2012
Tech Mesh London
Slide 41 of 45

42. Future Explorations
Parallella:
03/12/2012
Tech Mesh London
Slide 42 of 45

43. Packages for Embedded Architectures
https://www.erlang-solutions.com/downloads/download-erlang-otp
03/12/2012
Tech Mesh London
Slide 43 of 45

44. Erlang Embedded Training Stack
• A complete package for people interested in
developing the next generation of concurrent
and distributed Embedded Systems
• Training Modules:
– Embedded Linux Primer
– Erlang/OTP 101
– Erlang Embedded Framework
Get in touch if you’re interested.
03/12/2012
Tech Mesh London
Slide 44 of 45

45. Thank you
• http://erlang-embedded.com
• embedded@erlang-solutions.com
• @ErlangEmbedded
“
The world is concurrent.
Things in the world don't share data.
Things communicate with messages.
Things fail.
- Joe Armstrong
Co-inventor of Erlang
03/12/2012
Tech Mesh London
Slide 45 of 45