Organizing the Aggregate: Languages for Spatial Computing Jacob Beal (Raytheon BBN Technologies, USA),∗ Stefan Dulman (Delft Univ., the Netherlands), Kyle Usbeck (Raytheon BBN Technologies, USA), Mirko Viroli (Univ. Bologna, Italy), Nikolaus Correll (Univ. Colorado Boulder, USA) April 2nd, 2012 To appear as a chapter in the book \Formal and Practical Aspects of Domain-Specific Languages: Recent Developments" Abstract As the number of computing devices embedded into engineered systems continues to rise, there is a widening gap between the needs of the user to control aggregates of devices and the complex technology of individual devices. Spatial computing attempts to bridge this gap for systems with local communication by exploiting the connection between physical locality and device connectivity. A large number of spatial computing domain specific languages (DSLs) have emerged across diverse domains, from biology and reconfigurable computing, to sensor networks and agent-based systems. In this chapter, we develop a framework for analyzing and comparing spatial computing DSLs, survey the current state of the art, and provide a roadmap for future spatial computing DSL investigation. Contents 1 Introduction 3 2 Analytic Framework 4 2.1 Chapter Scope . .5 2.2 Generic Aggregate Programming Architecture . .5 2.3 Spatial DSL Properties . .6 2.3.1 Types of Space-Time Operations . .8 2.3.2 Abstract Device Model . .8 2.4 Reference Example: \T-Program" . .9 arXiv:1202.5509v2 [cs.PL] 3 Apr 2012 3 Survey of Existing Spatial DSLs9 3.1 Amorphous Computing . 12 3.1.1 Pattern Languages . 12 3.1.2 Manifold Programming Languages . 13 3.1.3 Reference Example: Proto . 14 3.1.4 Analysis . 16 3.2 Biological Modeling and Design . 17 3.2.1 Modeling Languages . 17 3.2.2 Synthetic Biology Languages . 18 ∗Work partially sponsored by DARPA; the views and conclusions contained in this document are those of the authors and not DARPA or the U.S. Government. 1 3.2.3 Reference Example: MGS . 18 3.2.4 Analysis . 21 3.3 Agent-Based Models . 21 3.3.1 Graphical Agent Modeling Languages . 22 3.3.2 Agent Frameworks . 22 3.3.3 Multi-agent Modeling and Simulation Toolkits . 22 3.3.4 Distributed Systems . 23 3.3.5 Reference Example: NetLogo . 23 3.3.6 Analysis . 26 3.4 Wireless Sensor Networks . 27 3.4.1 Region-based DSLs . 28 3.4.2 Dataflow based DSLs . 29 3.4.3 Database-like DSLs . 29 3.4.4 Centralized-view DSLs . 29 3.4.5 Agent-based DSLs . 30 3.4.6 Reference Example: Regiment . 30 3.4.7 Analysis . 31 3.5 Pervasive Computing . 31 3.5.1 Tuples on the Air (TOTA) . 32 3.5.2 Chemical Reaction Model . 32 3.5.3 Spatially Scoped Tuples . 33 3.5.4 Reference Example: TOTA . 33 3.5.5 Analysis . 34 3.6 Swarm and Modular Robotics . 34 3.6.1 Swarm robotics . 34 3.6.2 Modular Robotics . 36 3.6.3 Reference Example: Graph Grammars . 37 3.6.4 Analysis . 38 3.7 Parallel and Reconfigurable Computing . 38 3.7.1 Dataflow Languages . 39 3.7.2 Topological Languages . 39 3.7.3 Field Languages . 40 3.7.4 Analysis . 41 3.8 Formal calculi for concurrency and distribution . 41 3.8.1 3π Process Algebra . 41 3.8.2 Ambient Calculus . 42 3.8.3 Reference Example: 3π ................................... 42 3.8.4 Analysis . 43 4 Analysis 43 4.1 Comparison of Languages . 45 5 Conclusions and Future Research Directions 46 6 Key Terms and Definitions 47 7 Additional Reading 48 2 !"#$"%&% '(()*+,-./"% 0).1,)23.24.+,)% 5.6(*),-./% 78"3#6%.9%:8$*,;% </3#$+.//#+3#;%% 5.6(=-/>%?#@*+#"% Figure 1: A widening gap exists between the application needs of users and the implementation details of those applications on increasingly complex systems of interacting computing devices. This gap must be crossed by global-to-local compilation: the transformation of specifications of aggregate behavior to actions of individual devices. 1 Introduction Computation has become cheap enough and powerful enough that large numbers of computing devices can be embedded into nearly any aspect of our environment. A widening gap, however, exists between the potential users of embedded systems (biologists, architects, emergency response teams, etc.), and the increasingly complex technology available. Typically, the users know what they want from the aggregate of devices, but the programming or design interfaces that they are presented with operate mainly at the level of individual devices and their interactions. Thus, biologists who want to monitor wildlife with mesh-networked sensors end up having to debug real-time code for parallel algorithms in order to minimize Joules-per-packet, and architects who want to create responsive buildings end up worrying about how to create distributed algorithms to ensure correct time-synchronization across the application modules. Similar gaps are found in many other areas besides embedded systems. For example: • Robots are becoming cheaper and more reliable, such that teams of robots can now be used in many more applications. For instance, search-and-rescue workers might use a group of unmanned aerial ve- hicles to search a wilderness area. These search-and-rescue workers should be able to specify aggregate behaviors like sweep patterns, rather than worry about how to share localization and progress data in order to keep those sweep patterns consistent between robots. Modular and reconfigurable robotic systems have similar issues. • Reconfigurable computing devices like Field Programmable Gate Arrays (FPGAs) can solve complex problems extremely quickly. Programming and code reuse are difficult, however, because subprograms need to be tuned for their layout on each particular model chip and their context of use relative to other subprograms. Similar issues are likely to emerge in multi-core systems as the number of cores continues to rise. • In synthetic biology, it will soon be desirable to program engineered biological organisms in terms of the structure of tissues or colonies, and of their interaction patterns, rather than by selecting particular trans-membrane proteins and adjusting their signal dynamics and metabolic interactions. Emerging chemical and nanotechnological computing platforms are likely to face similar issues. 3 Fundamentally, this gap lies between programming the aggregate and programming the individual (Fig- ure1). For the users, the application is often best specified in terms of collective behaviors of aggregates of devices. For example, an architect may wish to use sweeping patterns of light on the floor and walls to guide visitors through a building. When implemented on a system of computing devices, however, the application must be carried out through the actions and interactions of many individual devices. For example, a partic- ular LED on the wall must discover whether it is on a visitor's path and then synchronize with its neighbors to ensure that it turns on and off at the correct times to create the desired pattern. Thus, we see that the critical element for bridging the gap between a user and a system of many devices is global-to-local compi- lation (Abelson et al., 2000), facilitated by the development of a new programming language or languages suited to describing aggregate behaviors. All of the domains that we have mentioned so far share a property: a close relationship between the computation and the arrangement of the computing devices in space. These systems thus fit the definition of spatial computers|collections of local computational devices distributed through a physical space, in which: • the difficulty of moving information between any two devices is strongly dependent on the distance between them, and • the \functional goals" of the system are generally defined in terms of the system's spatial structure. This correlation between location and computation can be exploited to help bridge the gap between aggregate and individual. Geometry and topology include many \intermediate" aggregate concepts, such as regions, neighborhoods, and flows, that can be used as building blocks for programming applications and automatically mapped to the behavior of individual devices. Across many different communities, researchers have built domain specific languages (DSLs) that use spatial abstractions to simplify the problem of programming aggregates. These DSLs take a wide variety of different approaches, often blending together generally applicable spatial concepts with specific requirements of a target sub-domain or application, and have met with varying degrees of success. At present, the space is quite chaotic, but the number of shared ideas between DSLs argues that it should be possible to develop more powerful and more generally applicable languages for spatial computing. Indeed, as we will see, some may be beginning to emerge. In this chapter, our aim is to develop a clear framework for analyzing and comparing spatial computing DSLs, to survey the current state of the art, and to provide a roadmap for future spatial computing DSL investigation. We organize our investigation as follows: • In Section2, we define a framework for analyzing spatial computing DSLs, separating more abstract spatial concerns from the pragmatic needs of particular implementations or application domains. • Following in Section3, we survey existing spatial computing DSLs across a number of domains and summarize their key attributes. To aid in comparison, we encode a reference example in representative languages. • We then analyze the relationship between languages in Section4, identifying common themes and gaps in the existing space of languages. • Finally, in Section5, we summarize our results and propose a roadmap for the future development of spatial computing DSLs. 2 Analytic Framework In this section, we develop a framework for analyzing spatial computing domain specific languages. We begin by defining the scope of work that will be considered in this chapter. We then organize our analytic framework in terms of a generic aggregate programming architecture, which separates aggregate and space- focused aspects of a system from underlying lower level details.