PharoThings: a live programming IoT-platform

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ESUG 2017 Youtube: https://youtu.be/MtrKsnLDAhU Github: https://github.com/pharo-iot/PharoThings Abstract: PharoThings is a new project built on top of Pharo. It targets IoT domain to bring immersive live programming experience to the world of internet of things. With example of RaspberryPi this talk will show how to control and program embedded devices in live using remote development tools and advanced model of boards. Bio: Denis Kudriashov is currently working as engineer in RMOD-INRIA team on project "remote development tools". He has been working with Smalltalk around 11 years. In the past he had also worked in Russian bank using Pharo Smalltalk and Java. Nowadays, he is maintainer to several open-source projects like PharoThings, TelePharo, Calypso, Mocketry, Seamless, etc.

Software

PharoThings
The live programming IoT platform
http://pharo.org
http://rmod.inria.fr
Denis Kudriashov dionisiydk@gmail.com https://github.com/pharo-iot/PharoThings

What is PharoThings?
• A Pharo image running on IoT device
• Raspberry Pi
• Beaglebone
• other small machines
*Follow github page for installation https://github.com/pharo-iot/PharoThings

Pharo on ARM machines
• ArmVM: http://ﬁles.pharo.org/vm/pharo-spur32/
linux/armv6/latest.zip
• JIT
• FFI
• OSProcess/OSSubprocess
• https://github.com/marianopeck/
OSSubprocess

Raspberry GPIO libraries
• WiringPI bindings from Jean Baptiste
• used by PharoThings
• https://github.com/pharo-iot/WiringPi
• docs http://wiringpi.com
• Pigpio bindings from Tim Rowledge
• http://www.squeaksource.com/HardwarePeripherals.html
• docs http://abyz.co.uk/rpi/pigpio/
• Required old compiler to install in Pharo

What is PharoThings?
• A Pharo image running on IoT device
• A Pharo image controlling remote IoT device
*Follow github page for installation https://github.com/pharo-iot/PharoThings

TelePharo
• Remote access to running Pharo images
• Remote image scripting from playground
• Remote object inspector
• Remote process browser
• Complete toolset for remote development
• Remote code browser
• Remote debugger
• https://github.com/dionisiydk/TelePharo

Direct access to IoT device
• Low level libraries/protocols to access devices
• Arduino by Firmata https://github.com/pharo-iot/
Firmata
*Follow github page for installation https://github.com/pharo-iot/PharoThings

What is PharoThings?
• A Pharo image running on IoT device
• A Pharo image controlling remote IoT device
• An object board model

The board model
• Pins are objects
• gpio4 beDigitalOutput
• gpio4 toggleDigitalValue

The board model
• Hierarchy of boards with speciﬁc conﬁguration of pins
• RpiBoardBRev1 with single connector P1 with 26 pins
• RpiBoardBRev2 with two connectors P1 with 26 pins
and P5 with 8 pins

The board model
• High level peripheral model to program connected devices
button := board installDevice: (PotButton named: 'button green' fromPowerTo: gpio3).
button when: PotButtonReleased send: #toggleDigitalValue to: gpio4.

The board model
• Persistent by default
• Save the image: the board state will be recovered
after restart
• pins are in same state
• connected devices continue working

What is PharoThings?
• A Pharo image running on IoT device
• A Pharo image controlling remote IoT device
• An object board model
• The advanced board model inspector

The board model inspector
• Pins schema like in docs
• live pin state
• interactive

The board model inspector
• Evaluation pane with gpio bindings
• script pins by #doIt/#printIt

The board model inspector
• Extra device management tab
button := board installDevice: (PotButton named: 'button green' fromPowerTo: gpio3).
board installDevice: (PotSwitch named: 'led switch' for: gpio4 using: button).

The board model inspector
• Works remotely
remoteBoard := remotePharo evaluate: [ RpiBoardBRev1 current].
remoteBoard inspect

PharoThings
• A Pharo image running on IoT device
• A Pharo image controlling remote IoT device
• An object board model
• The advanced board model inspector

Demo
• Headless Raspberry Pi
• Button connected by red wire from the ground to gpio0
• Red led connected to gpio1
• Green led connected to gpio4
• Button connected by green wire from the power to gpio3
*Follow peripherals on picture from the left to the right

We want
• Switch the green led by green button (green wire)
• Switch the red led by red button (red wire)
*Follow demo videos at github page https://github.com/pharo-iot/PharoThings

Future
• More RaspberryPI models
• Beaglebone models
• Arduino models
• Deploying as service from image
• Zeroconf for armVM+PharoThings
• General evolution of TelePharo
• Automatic detection of running images in network
• Remote refactoring
• Security
• many other things

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PharoThings: a live programming IoT-platform

1. PharoThings The live programming IoT platform http://pharo.org http://rmod.inria.fr Denis Kudriashov dionisiydk@gmail.com https://github.com/pharo-iot/PharoThings

2. What is PharoThings? • A Pharo image running on IoT device • Raspberry Pi • Beaglebone • other small machines *Follow github page for installation https://github.com/pharo-iot/PharoThings

3. Pharo on ARM machines • ArmVM: http://ﬁles.pharo.org/vm/pharo-spur32/ linux/armv6/latest.zip • JIT • FFI • OSProcess/OSSubprocess • https://github.com/marianopeck/ OSSubprocess

4. Raspberry GPIO libraries • WiringPI bindings from Jean Baptiste • used by PharoThings • https://github.com/pharo-iot/WiringPi • docs http://wiringpi.com • Pigpio bindings from Tim Rowledge • http://www.squeaksource.com/HardwarePeripherals.html • docs http://abyz.co.uk/rpi/pigpio/ • Required old compiler to install in Pharo

5. What is PharoThings? • A Pharo image running on IoT device • A Pharo image controlling remote IoT device *Follow github page for installation https://github.com/pharo-iot/PharoThings

6. TelePharo • Remote access to running Pharo images • Remote image scripting from playground • Remote object inspector • Remote process browser • Complete toolset for remote development • Remote code browser • Remote debugger • https://github.com/dionisiydk/TelePharo

7. What is PharoThings? • A Pharo image running on IoT device • A Pharo image controlling remote IoT device *Follow github page for installation https://github.com/pharo-iot/PharoThings

8. Direct access to IoT device • Low level libraries/protocols to access devices • Arduino by Firmata https://github.com/pharo-iot/ Firmata *Follow github page for installation https://github.com/pharo-iot/PharoThings

9. What is PharoThings? • A Pharo image running on IoT device • A Pharo image controlling remote IoT device • An object board model

10. The board model • Pins are objects • gpio4 beDigitalOutput • gpio4 toggleDigitalValue

11. The board model • Hierarchy of boards with speciﬁc conﬁguration of pins • RpiBoardBRev1 with single connector P1 with 26 pins • RpiBoardBRev2 with two connectors P1 with 26 pins and P5 with 8 pins

12. The board model • High level peripheral model to program connected devices button := board installDevice: (PotButton named: 'button green' fromPowerTo: gpio3). button when: PotButtonReleased send: #toggleDigitalValue to: gpio4.

13. The board model • Persistent by default • Save the image: the board state will be recovered after restart • pins are in same state • connected devices continue working

14. What is PharoThings? • A Pharo image running on IoT device • A Pharo image controlling remote IoT device • An object board model • The advanced board model inspector

15. The board model inspector • Pins schema like in docs • live pin state • interactive

16. The board model inspector • Evaluation pane with gpio bindings • script pins by #doIt/#printIt

17.

18. The board model inspector • Extra device management tab button := board installDevice: (PotButton named: 'button green' fromPowerTo: gpio3). board installDevice: (PotSwitch named: 'led switch' for: gpio4 using: button).

19. Device management tab

20. The board model inspector • Works remotely remoteBoard := remotePharo evaluate: [ RpiBoardBRev1 current]. remoteBoard inspect

21. PharoThings • A Pharo image running on IoT device • A Pharo image controlling remote IoT device • An object board model • The advanced board model inspector

22. Demo

23. Demo • Headless Raspberry Pi • Button connected by red wire from the ground to gpio0 • Red led connected to gpio1 • Green led connected to gpio4 • Button connected by green wire from the power to gpio3 *Follow peripherals on picture from the left to the right

24. We want • Switch the green led by green button (green wire) • Switch the red led by red button (red wire) *Follow demo videos at github page https://github.com/pharo-iot/PharoThings

25. Few pictures of remote tools

26. Remote playground

27. Remote browser

28. Remote debugger

29. Future • More RaspberryPI models • Beaglebone models • Arduino models • Deploying as service from image • Zeroconf for armVM+PharoThings • General evolution of TelePharo • Automatic detection of running images in network • Remote refactoring • Security • many other things

30. The end

PharoThings: a live programming IoT-platform

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