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1.1.1 Gabriel (1986-1991) Introduction The first generation of software created by this group was called Gabriel [18]. It was written in Lisp and aimed at signal processing. It was during the construction of Gabriel that synchronous dataflow (SDF) block diagrams and both sequential and parallel scheduling techniques for SDF models matured. Gabriel included code generators for programmable DSPs that produced efficient assembly code for certain processors (notably, Motorola processors). Gabriel included hardware/software cosimulators, where parallel code generators would produce assembly code which then ran on instruction set simulators within a hardware simulation of a multiprocessor architecture. Gabriel had a graphical user interface built on top of Vem, written by Rick Spickelmeyer, which was originally designed for schematic capture in VLSI CAD. It used Oct, which was the design database developed by the Berkeley CAD group under the leadership of Professor Richard Newton. 1.1.2 Ptolemy Classic (1990-1997) Ptolemy Classic, started jointly by Professors Edward Lee and Dave Messerschmitt in 1990, was written in C++ [22]. It was the first modeling environment to systematically support multiple models of computation, hierarchically combined. We ported the SDF capabilities from Gabriel, and also developed boolean dataflow (BDF), dynamic dataflow (DDF), multidimensional synchronous dataflow (MDSDF) and process networks (PN) domains. We also ported the DSP code generators, and created C and VHDL code generators as well. We developed the concept of “targets,” which encapsulated knowledge about specific hardware platforms, and demonstrated construction of models that executed on attached embedded processors (such as S-bus cards with DSPs), including models that executed jointly on a Unix host and the attached embedded processor. We developed a discrete-event domain and demonstrated joint modeling of communication networks and signal processing, and also developed a hardware simulation domain called Thor, which was adapted from an open-source hardware simulator by the same name (see figure 1.1). We made major contributions to SDF scheduling techniques, including introducing the concept of “single appearance schedules” (which minimize generated code size and enable extensive use of inlining of generated code). We also introduced “higherorder components,” which greatly increased the expressiveness of visual syntaxes. The Ptolemy Classic user interface was an extension of the Gabriel interface, still based on Oct and Vem, but extended by Tycho (written in Itcl, an object-oriented extension of Tcl/Tk). Portions of Ptolemy Classic were commercialized as part of the Agilent ADS system, and methods from Ptolemy Classic were used in Cadence’s SPW system. 1.1.3 Ptolemy II (1996-?) The Ptolemy Project (as it was now known) began working on Ptolemy II in 1996. The major reasons for starting over were to exploit the network integration, code migration, built-in threading, and user-interface capabilities of Java. Ptolemy II introduced the notion of domain polymorphism (where components could be designed to be able to operate in multiple domains) and modal models (where finite state machines are combined hierarchically with other models of computation). We built a continuous-time domain, that when combined with the modal modeling capability, yields hybrid system modeling. Ptolemy II has a sophisticated type system with type inference and data polymorphism (where components can be designed to operate on multiple data types), and a rich expression language. The concept of behavioral types emerged (where components and domains could have interface definitions that describe not just static structure, as with traditional type systems, but also dynamic behavior). Some (but not all) of the SDF capabilities from Ptolemy Classic were ported, and the 2 Ptolemy II
Introduction heterochronous dataflow model was introduced. We contributed to a user-interface toolkit (called Diva) based on Java, built a user interface for Ptolemy II (called Vergil) based on Diva, designed a Java plotter (PtPlot), and introduced a 3-D animation domain. We built models that could be used as applets in a web browser. We introduced actor-oriented classes and subclasses with inheritance, and we added modeling capabilities for wireless systems. We also introduced lifecycle management actors and dynamically evaluated higher-order components. And we built numerous experimental domains that explored real-time and distributed computing (distributed discrete events (DDE), timed multitasking (TM), Giotto, and component interaction (CI)). As for code generation, the tactic in Ptolemy II is significantly different than that in Gabriel or Ptolemy Classic. Instead of components as generators, Ptolemy II uses a component-specialization framework built on top of a Java compiler toolkit called Soot. Ptolemy II uses XML for its persistent data representation, and has introduced the concept of migrating models. FIGURE 1.1. Ptolemy Classic screen image (from 1993) showing an SDF graph at the upper left that is automatically mapped and scheduled onto the two processor architecture, whose model is at the lower right (in the “Thor” domain). Assembly code for the two processors is generated, and then ISA simulators of the processors (provided by Motorola, lower left) interact with the Thor-domain simulation, resulting in the logic analyzer trace at the upper right. Heterogeneous Concurrent Modeling and Design 3
Page 1 and 2: PTOLEMY II HETEROGENEOUS CONCURRENT
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Page 5 and 6: Volume 1 Contents Introduction to P
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Page 9 and 10: 7. MoML 191 7.1. Introduction 191 7
Page 11: 1 Introduction Author: Edward A. Le
Page 15 and 16: Introduction A major emphasis in Pt
Page 17 and 18: Introduction determine when actors
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Page 41 and 42: Introduction Actor interfaces are k
Page 43 and 44: Heterogeneous Concurrent Modeling a
Page 45 and 46: Introduction actor actor.gui data.e
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Page 53 and 54: Introduction grams, the only constr
Page 55 and 56: 2 Using Vergil Authors: Edward A. L
Page 57 and 58: Using Vergil 2.2.2 Executing a Pre-
Page 59 and 60: Using Vergil The Lorenz attractor m
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Using Vergil box in figure 2.11. En
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Using Vergil Don’t panic! Excepti
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Using Vergil tions are a normal par
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Using Vergil 2.4 Hierarchy Ptolemy
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Using Vergil Then using these ports
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Using Vergil the default 0.1 to 0.0
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Using Vergil pan window, it is easy
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Using Vergil FIGURE 2.33. The pan w
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Using Vergil we have modified the c
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Using Vergil model, simply copy (or
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Using Vergil A key issue is to deci
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Using Vergil instances. This proble
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Using Vergil quick tour for more de
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Using Vergil uses the index in the
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Using Vergil AddSubtract actor, and
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Using Vergil If you look inside the
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Using Vergil If you look inside the
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Using Vergil transition (or right c
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Using Vergil Once you have created
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Using Vergil The grid is turned off
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Authors: Edward A. Lee Xiaojun Liu
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Expressions classes to create a gen
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Expressions The % operation is a mo
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Expressions attribute, which includ
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Expressions 3.3.5 State Machines Ex
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Expressions whose value is an array
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Expressions from it. For instance,
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Expressions defined. For example, >
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Expressions length is given by the
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Expressions Thus, for example, you
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Expressions number. With one additi
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Expressions value. For example, fix
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Expressions In the example in figur
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Expressions A.2 Basic Mathematical
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Expressions A.3 Matrix, Array, and
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Expressions A.5 Signal Processing F
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Expressions TABLE 8: Functions perf
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4 Actor Libraries Authors: Elaine C
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Actor Libraries properly in the CT
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Actor Libraries ing that multiple c
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Actor Libraries TypedAtomicActor «
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Actor Libraries SequenceScope (exte
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Actor Libraries UnsignedByteArrayTo
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Actor Libraries MobileFunction (ext
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Actor Libraries LogicFunction (exte
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Actor Libraries Sleep (extends Tran
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Actor Libraries VariableFIR (extend
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Actor Libraries Integrator: Integra
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Actor Libraries Figure 4.4 shows th
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5 Designing Actors Authors: Christo
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Designing Actors /** Javadoc commen
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Designing Actors although with most
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Designing Actors import ptolemy.act
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Designing Actors makes such actors
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Designing Actors same parameter val
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Designing Actors morphic actor comp
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Designing Actors To get data polymo
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Designing Actors public class Seque
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Designing Actors be used in domains
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Designing Actors alComm actor. Beca
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Designing Actors attribute has valu
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Designing Actors import ptolemy.act
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6 Coding Style Authors: Christopher
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Coding Style /* One line descriptio
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Coding Style Copyright (c) 2004 The
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Coding Style @version $Id: NamedObj
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Coding Style } We use instead the i
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Coding Style * @exception MyExcepti
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Coding Style + "it does not impleme
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Authors: Edward A. Lee Steve Neuend
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MoML cutes it forever, until you hi
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MoML A second difference between ou
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MoML
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MoML 7.3.3 Names and Classes Most M
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MoML Here, the element named
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MoML implement. 7.3.7 Doc Element S
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MoML It is also sometimes necess
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MoML then there will be a link t
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MoML found. For example, if the cla
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MoML it cannot collide with the nam
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MoML The rendering of the icon is d
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MoML 7.4.5 Deleting Entities, Relat
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MoML This unlinks a port from the s
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MoML model. The EntityLibrary class
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MoML Suppose that using incremental
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MoML Generate a sine wave.
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MoML
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MoML Number of iterations in
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MoML -P- The f
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MoML -P- The phase,
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8 Custom Applets Authors: Edward A.
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Custom Applets html code, see the J
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Custom Applets public class Tutoria
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Custom Applets then the result of
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Custom Applets 8.3.5 Using Model Pa
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Custom Applets ptolemy/domains/doma
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References [1] G. Agha, Actors: A M
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[33] S. A. Edwards, “The Specific
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[67] E. Kohler, The Click Modular R
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[95] J. Liu, X. Liu, T. J. Koo, B.
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[132]W. R. Sutherland, "The on-Line
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Glossary abstract syntax ..........
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Ptolemy II ........................
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Index Symbols - in UML 41 # in UML
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coin flips 142 Color class 173 colo
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entity in XML 198 EntityLibrary cla
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Director class 159 inverse FFT 124
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CompositeEntity class 206 nextPower
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safety 34 SampleDelay actor 78, 138
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type constraint 155 type constraint
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