Fix theme, update to new presentation
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Levi Pearson
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EmbeddedRust.md
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104
EmbeddedRust.md
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---
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title: Embedded Rust
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subtitle: Intro and Ecosystem Overview
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author: Levi Pearson
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...
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# Overview
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## Background
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I am:
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+ A very experienced embedded systems programmer
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+ A moderately experienced Rustacean
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+ Relatively new at the combination
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## Questions to answer
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+ What are embedded systems?
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+ What makes Rust interesting in that context?
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+ What resources are there right now?
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+ How do I get started?
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# Embedded Systems?
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## A (very general) definition
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> When a device has a computerized, software-controlled component as part of its
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> mechanism, which supports its primary function rather than the computer *being*
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> its primary function, that component constitutes an embedded system.
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## Examples
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+ A digital scale's control system
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+ The engine management computer in a car
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+ The management controller in a hard drive
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## They are everywhere
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+ Microcontrollers start in the ~$0.01 price range
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+ They can be as small as a grain of rice
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+ They are in credit cards and SIM cards
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+ They are also often off-the-shelf Windows boxes
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## Microcontrollers
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+ Computers specialized for embedded control duty
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+ Much wider variety of architecture
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+ Integrated peripherals:
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- Timers
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- Sensors
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- Communication bus interfaces
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- Display controllers
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# Why Rust?
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## The landscape today
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+ Most embedded systems are still done in C
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+ C was a big step up from assembly
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+ C is still very error-prone
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+ We are putting more software in more things
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## Why not other safe languages?
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+ Real-time response requirements
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+ Resource (often RAM/Flash) constraints
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+ Memory layout and representation control
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+ Perception
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## Big wins
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+ The big enabler: `#[no_std]` and powerful, alloc-free `core` library
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+ Static resource analysis via ownership and hiding
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+ Modularity without overhead via traits
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+ Flexible, easy-to-use builds including cross-compiling with cargo
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+ Industrial strength multi-arch compiler back-end via LLVM
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# Rusty resources
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## Compiler and tools
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+ `rustup target list | grep none` for no-OS embedded targets
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+ `cargo install cargo-binutils` for `cargo size`, `cargo nm`, etc.
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+ `rustup component add llvm-tools-preview` for LLVM-native binutils
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+ `gdb` built for the target arch for debugging
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+ `openocd` to drive the programmer/debugger module
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## Embedded-wg resources
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+ Embedded Rust Book
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+ Awesome / Not-Yet-Awesome Lists
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+ `svd2rust` and Peripheral Access Crates
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+ `embedded-hal` and HAL Crates
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+ Board Support Crates
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+ `rtfm` "Real-Time For The Masses" framework
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4
Makefile
4
Makefile
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# Use nix-shell -p pandoc to bring pandoc into the path
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NAME := Types
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NAME := EmbeddedRust
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THEME := metropolis
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THEME_FILES := beamercolortheme${THEME}.sty \
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247
Types.md
247
Types.md
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---
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title: Intro to Types
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subtitle: What they are and what they're for
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author: Levi Pearson
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...
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# Overview
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## Goals
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+ Enough terminology to understand discussions
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+ Understand what types provide, and at what cost
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+ How common language features interact with type systems
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## Not-Goals
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+ Debate about whether typed languages are "good" or "bad"
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+ Deep understanding of Type Theory
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# Definitions
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## Caveats
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+ "Types" and "Type Systems" are overloaded terms
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+ Many usages are correct--in the right context!
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+ Be prepared to find common ground *before* arguing
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## Type System
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> A type system is a tractable syntactic method for proving
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> the absence of certain program behaviors by classifying
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> phrases according to the kinds of values they compute.
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>
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> -- Benjamin Pierce, "Types and Programming Languages"
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## Types About Programs
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+ Types and type systems were invented before computers
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+ Used in logic, math, and philosophy
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+ Also used in CS for things other than practical programs
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+ They are related, but we won't speak further about them!
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## Syntactic Method
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+ "Syntactic" means "based on the form of the text", or "static"
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+ This excludes run-time or "dynamic" information from the proof
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## Classifying
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+ Types *classify* textual phrases ("terms")
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+ Types *describe* the values the terms of that type can evaluate to
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+ They provide an "upper bound" on the range of values
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+ E.g. the expression `3 + 2` is a term that may have the type `Int`
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## Absence of Behaviors
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+ Proofs are *about* run-time behavior, not syntactic issues
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+ Example behaviors to exclude:
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- Nonsensical operations, e.g. `3 + false`
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- Calling missing methods
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- Violation of abstraction boundaries
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+ Each system chooses what behaviors it excludes
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## Tractable
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+ An algorithm (the "type checker") exists
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+ It can prove that the types assigned to terms are consistent *or*
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+ It can show where any inconsistencies are in the program
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+ The algorithm must complete in a reasonable amount of time
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+ It is desirable to know it will *always* complete
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# Errors and Safety
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## Going Wrong
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> ... well-typed programs cannot "go wrong" ...
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>
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> -- Robin Milner, "A Theory of Type Polymorphism in Programming"
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+ This paper introduced the type checker for ML
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+ What does he mean by "go wrong"?
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## Formal Semantics
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+ To formally prove, you must first formally specify
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+ A formal semantics gives unambiguous meaning to all programs
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+ This is as difficult as it sounds; rarely done for full languages
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+ Milner gave the meaning "wrong" to certain program fragments
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## Well-Typed
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+ To be "well-typed" means types can be found for all terms
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+ Types are the "upper bound" on possible evaluations
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+ The meaning/evaluation "wrong" has no type
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+ If a program is well-typed, it can't go (i.e. evaluate to) "wrong"
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## What is "wrong"?
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+ Not all errors can be easily ruled out this way
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+ Types are an approximation of run-time values
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+ Detecting some errors requires very fine approximation
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+ "Fancy" types can approximate better, but add complexity
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## Safety
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+ What errors to prioritize? Abstraction-breaking ones.
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- Out-of bounds manipulation of memory
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- Viewing an object as a value outside its type
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- Viewing uninitialized memory
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- Executing code at an illegal address
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- Corruption of run-time or system data
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+ If a language rules out these behaviors in its programs, it is Safe.
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+ Safe langauges may still have plenty of errors in their programs
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+ Errors in safe languages are properly attributed to their causes!
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## Safety and Types
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+ Types can rule out many, but usually not all, safety errors.
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- Array bounds for dynamically-sized arrays
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- Use-after-free errors
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+ Run-time checks can catch them all!
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+ So why use types?
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## Advantages to Type Safety
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+ Errors are ruled out *before* execution and for all runs
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+ Expensive run-time checks can be elided
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+ Sometimes more efficient data representation can be used
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+ Types provide useful documentation, especially when precise
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## Costs to Type Safety
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+ Some programs are ruled out that would run correctly if dyanmically checked
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+ Extra time and formality is needed in the language design
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+ Type checking algorithms may take non-trivial compile time
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+ Some run-time checks and other infrastructure still needed
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## Type Systems Are Hard
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> It turns out that a fair amount of careful analysis is required to
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> avoid false and embarrasing claims of type soundness for programming
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> languages. As a consequence, the classification, description, and
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> study of type systems has emerged as a formal discipline.
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>
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> -- Luca Cardelli
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# Classifying Type Systems
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## Surface Dimensions
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+ Safe vs. Unsafe
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+ Typed vs. Untyped
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+ Explicit vs. Implicit
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+ Simple vs... not?
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## When is a language typed?
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+ If it has a type checker, it is typed
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+ It may *also* store information for run-time checking
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+ The type checker might not be of much help sometimes
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+ Things get fuzzy sometimes
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## Implicit types and inference
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+ Many useful ML programs can be written without naming a type in their text
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+ "Algorithm W", a.k.a. "Hindley-Milner type inference" figures them all out
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+ Tractability of inference algorithms is very sensitive to type system features!
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+ Interacts particularly poorly with subtyping
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+ "inference" vs. "deduction"
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## Simple Types
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+ These types classify values and functions
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+ Can include higher-order functions
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+ Base types, plus various compound types
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+ tuples, records, variants, enumerations, arrays, etc.
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+ Languages with simple type systems begin with Fortran in 1950s.
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## Polymorphic Types
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+ A polymorphic type is parameterized by one or more type variables
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+ For each choice of type for the type variable, a new concrete type is selected
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+ A polymorphic type is like a function from types to types
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+ This is called "parametric polymorphism"
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+ A simple type system is a first-order system; with polymorphism, higher-order.
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## Polymorphic Lists
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+ `List<T>` is a type that maps a type `T` to the type of lists of `T`
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+ It works for *all* types `T`
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+ `List` itself is sometimes called a "type constructor"
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+ Code written in terms of `List<T>` can not depend on what `T` is chosen
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## Subtyping
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+ A type 'A' is a subtype of type 'B' if a term of type 'A'
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can be used anywhere a 'B' is expected
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+ Sometimes known as "subtype polymorphism"
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## Existential Types
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> Type structure is a syntactic discipline for enforcing levels of abstraction.
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>
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> -- John Reynolds
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## Forall vs. Exists
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+ Parametric type variable is *universally quantified*
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+ `List<T>` means "For all types T, we can construct List of T"
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+ From logic, we also have *existential quantification*
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+ "There exists a type T such that..."
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## How does that work?
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+ We can bundle an existential type with operations that are aware of its real nature
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+ `exists T. { T.to_string() -> String; T.combine(other: T) -> T }`
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+ These can be used in contexts where the exact type is known; i.e. it is abstract
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@@ -113,13 +113,13 @@
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}
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\def\@metropolis@frametitleformat#1{#1}
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\patchcmd{\beamer@@frametitle}
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{\beamer@ifempty{#2}{}{%
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{{%
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\gdef\insertframetitle{{#2\ifnum\beamer@autobreakcount>0\relax{}\space%
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\usebeamertemplate*{frametitle continuation}\fi}}%
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\gdef\beamer@frametitle{#2}%
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\gdef\beamer@shortframetitle{#1}%
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}}
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{\beamer@ifempty{#2}{}{%
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{{%
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\gdef\insertframetitle{{\@metropolis@frametitleformat{#2}\ifnum%
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\beamer@autobreakcount>0\relax{}\space%
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\usebeamertemplate*{frametitle continuation}\fi}}%
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@@ -127,7 +127,7 @@
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\gdef\beamer@shortframetitle{#1}%
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}}
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{}
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{\PackageError{beamerouterthememetropolis}{Patching frame title failed}}
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{\PackageError{beamerouterthememetropolis}{Patching frame title failed}\@ehc}
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\newlength{\@metropolis@frametitlestrut}
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\defbeamertemplate{frametitle}{plain}{%
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\nointerlineskip%
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