An Algebra for Program Designs
Tony Hoare
Moscow
July 2011
With ideas from
•
•
•
•
•
•
•
•
Ian Wehrman
John Wickerson
Stephan van Staden
Peter O’Hearn
Bernhard Moeller
Georg Struth
Rasmus Petersen
…and others
Summary
denotational models
algebraic laws
deduction rules
operational rules
Part 1
Algebra and Hoare logic
• Some familiar algebraic laws
• their application to program designs
• derivation of Hoare logic from them
Part 1
Algebra and Hoare logic
algebraic laws
deduction rules
Subject matter: designs
• variables (p, q, r) stand for programs, designs,
specifications,…
• they all describe what happens inside/around
a computer that is executing a program.
• The program itself is the most precise.
• The specification is the most abstract.
• Designs come in between.
Binary relation: p ⊑ q
• Everything described by p
is also described by q , e.g.,
– spec p
implies
spec q
– prog p
satisfies
spec q
– prog p more determinate than prog q
• stepwise development is
– spec ⊒ design ⊒ program
• stepwise analysis is the reverse
– program ⊑ design ⊑ spec
p
•
•
•
•
•
•
•
•
⊑
below
lesser
stronger
lower bound
more precise
…deterministic
included in

antecedent
=>
q
•
•
•
•
•
•
•
•
above
greater
weaker
upper bound
more abstract
...non-deterministic
containing
(sets)
consequent (pred)
⊑ is a partial order
• ⊑ transitive
•
•
p⊑r
if
p ⊑ q and q ⊑ r
needed for stepwise development/analysis
• ⊑ antisymmetric and reflexive
• p=r
iff
p ⊑ r and r ⊑ p
• needed for abstraction
Binary operator: p ; q
• sequential composition of p and q
• an execution of p;q consists of
– all events x from an execution of p
– and all events y from an execution of q
• subject to an ordering constraint….
Three ordering constraints
• strong sequence: x must precede y
• weak sequence: y must not precede x
• no constraint
• all our algebraic laws will apply
to all three alternatives
Hoare triple: {p} q {r}
• defined as p;q ⊑ r
– starting in the final state of an execution of p,
q ends in the final state of some execution of r
– p and r may be arbitrary designs.
• example: {..x+1 ≤ n} x:= x + 1 {..x ≤ n}
• where ..b (finally b) describes all executions that
end in a state satisfying a single-state predicate b .
monotonicity
• Law: ( ; is monotonic wrto ⊑) :
– p;q ⊑ p’;q’
if p ⊑ p’ and q ⊑ q’
– like addition of numbers
• monotony justifies modular evolution
– p’ and q’ are developed independently
• Theorem (rule of consequence):
– p’ ⊑ p & {p} q {r} & r ⊑ r’ implies {p’} q {r’}
• Law is also provable from the theorem
associativity
• Law (; is associative) :
– (p;q);q’ =
p;(q;q’)
• Theorem (sequential composition):
– {p} q {s} & {s} q’ {r} implies
{p} q;q’ {r}
• half the law provable from theorem
Conditional correctness
• disregards unending executions
• ..b is re-interpreted as including them all:
– ‘if the execution terminates, it will end in a state
satisfying b‘.
• definition of triple stays the same
• all laws apply also to conditional correctness
logic as well as total correctness logic.
Unit(skip): 
• a program that does nothing
• Law ( is the unit of ;):
– p; = p = ;p
• Theorem (nullity)
– {p}  {p}
• a quarter of the law is provable from
theorem
concurrent composition: p | q
• execution of (p|q) consists of
– all events x of an execution of p,
– and all events y of an execution of q
• same laws apply to both:
– interleaving: x precedes or follows y
– true concurrency: x neither precedes nor
follows y.
• Laws: | is associative, commutative
and monotonic
Separation Logic
• Law (locality):
–
–
–
–
(s|p) ; q ⊑ s |(p;q)
(left locality)
p ; (q|s) ⊑ (p;q) | s
(right locality)
a weak version of associativity
a weak version of distribution
• Theorem (frame rule) :
– {p} q {r} implies {p|s} q {r|s}
– in Hoare logic, & replaces | , with sidecondition that q does not make s false
• Left locality provable from the theorem!
Concurrency law
• Law (; exchanges with *)
– (p|q) ; (p’|q’) ⊑ (p;p’) | (q;q’)
– a weak kind of mutual distribution
• Theorem (| compositional)
– {p} q {r} & {p’} q’ {r’} implies
{p|p’} q|q’ {r|r’}
• the law is provable from the theorem
p|q
p
q
; p’|q’
p’
q’
p|q
p
q
; p’|q’
p’
q’
⊑
p;p’
| q;q’
Regular language model
• p, q, r,… are sets of strings
(languages).
• p ⊑ q is inclusion of languages
• p;q is (lifted) concatenation of strings
• p|q is (lifted) interleaving of strings
Left locality
• Theorem: (s|p) ; q ⊑ s |(p;q)
in lhs: s interleaves with just p ,
and all of q comes at the end.
in rhs: s interleaves with all of p;q
so lhs is a special case of rhs
• right locality is similar
Exchange
• Theorem: (p|q) ; (p’|q’) ⊑ (p;p’) | (q;q’)
– in lhs: all of p and q comes before
all of p’ and q’ .
– in rhs: p may interleave with q’
and p’ with q
– the lhs is a special case of the rhs.
Conclusion
• regular expressions satisfy all our laws
for ⊑ , ; , and |
• and other operators introduced later
Part 2. more operators and laws
•
•
•
•
Complete lattices
Iteration, recursion, fixed points
Subroutines, abstraction
Basic commands
Subject matter
• variables (p, q, r) stand for programs, designs,
specifications,…
• they are all descriptions of what happens
inside and around a computer that is
executing a program.
• the differences between programs and specs
are often defined from their syntax.
Specification syntax includes
• disjunction (or) to express abstraction, or to keep
options open
– ‘it may be painted green or blue’
• conjunction (and) to combine requirements
– it must be cheaper than x and faster than y
• negation (not) for safety and security
– it must not explode
• implication to define contracts
– if the user observes the protocol, so will the system
Program syntax excludes
• disjunction
– non-deterministic programs difficult to test
• conjunction
– inefficient to find a computation satisfying both
• negation
– Incomputable
• implication
– there is no point in executing it
programs include
•
•
•
•
•
•
•
sequential composition (;)
concurrent composition (|)
iteration
recursion
interfaces
transactions
assignments, inputs, outputs, jumps,…
• So let’s include these in our specification/designs
Bottom 
• A specification that has no implementation
like the false predicate
• A program that has no execution
e.g., because of some syntactic error
• Define  as the least solution of _ ⊑ q
– r ⊑ q implies  ⊑ r
• Law ( is the zero of ;) :
–;p =  = p;
• Theorem :
– {p}  {q}
Top ⊤
• a program with a run-time error
– for which the programmer is responsible
– e.g., subscript error, division by zero,
divergence,…
• defined as the least solution of q ⊑ _
• Law: it is a zero of ;
• ⊤; p = ⊤ = p ;⊤
if p ≠ 
• Theorem: none
Non-determinism (or): p ⊔ q
• describes all executions that either
satisfy p or satisfy q .
• The choice is not (yet) determined.
• It may be determined later
– in development of the design
– or in writing the program
– or by the compiler
– or even at run time
lub (join): ⊔
• Define p⊔q as least solution of
p⊑_ & q⊑_
• Theorem
–p⊑r & q⊑r
iff
p⊔q ⊑ r
• Theorem
– ⊔ is associative, commutative,
monotonic, idempotent and increasing
– it has unit ⊥ and zero ⊤
glb (meet): ⊓
• Define p⊓q as greatest solution of
_⊑p & _⊑q
Distribution
• Law ( ; distributive through ⊔ )
– p ; (q⊔q’) = p;q ⊔ p;q’
– (q⊔q’) ; p = q;p ⊔ q’;p
• Theorem (non-determinism)
– {p} q {r} & {p} q’ {r} implies {p} q⊔q’ {r}
– i.e., to prove something of q⊔q’
prove the same thing of both q and q’
• quarter of law provable from theorem
Conditional: p if b else p’
• Define p ⊰b⊱ p’ as
b.. ⊓ p
⊔
not(b).. ⊓ p’
– where b.. describes all executions that begin
in a state satisfying b .
• Theorem. p ⊰b⊱ p’ is associative,
idempotent, distributive, and
– p ⊰b⊱ q = q ⊰not(b)⊱ p
(symm)
– (p ⊰b⊱ p’ ) ⊰c⊱ (q ⊰b⊱ q’) =
(p ⊰c⊱ q) ⊰b⊱ (p’ ⊰c⊱ q’)
(exchange)
Transaction
• Defined as (p ⊓..b)
⊔
(q ⊓..c)
– where ..b describes all executions that
end satisfying single-state predicate b .
• Implementation:
– execute p first
– test the condition b afterwards
– terminate if b is true
– backtrack on failure of b
– and try an alternative q with condition c.
Transaction (realistic)
• Let r describe the non-failing
executions of a transaction t .
–
–
–
–
r is known when execution of t is complete.
any successful execution of t is committed
a single failed execution of t is undone,
and q is done instead.
• Define: (t if r else q) = t
= (t ⊓ r) ⊔ q
if t ⊑ r
otherwise
Least upper bound
• Let S be an arbitrary set of designs
• Define
⊔S
as least solution of
∀s∊ S . s ⊑
_
– ∀s∊ S . s ⊑ r ⇒ r ⊑
⊔S
(all r)
• everything is an upper bound of { } ,
so ⊔ { } =

– a case where ⊔S ∉ S
similarly
• ⊓S is greatest lower bound of S
•⊓{} = ⊤
Iteration (Kleene *)
• q* is least solution of
– (ɛ ⊔ (q; _) ) ⊑ _
• q* =def
⊔{s| ɛ ⊔ q; s ⊑ s}
– ɛ ⊔ q; q* ⊑ q*
– ɛ ⊔ q; q’ ⊑ q’
– q* =
implies
⊔ {qⁿ | n ∊ Nat}
• Theorem (invariance):
– {p}q*{p}
if
{p}q{p}
q* ⊑ q’
(continuity)
Infinite replication
• !p is the greatest solution of _ ⊑ p|_
– as in the pi calculus
• all executions of !p are infinite
– or possibly empty
Recursion
• Let F(_) be a monotonic function
between programs.
• Theorem: all functions defined by
monotonic operators are monotonic.
• μF is strongest solution of F(_) ⊑ _
• νF is weakest solution of _ ⊑ F(_)
• Theorem (Knaster-Tarski): These
solutions exist.
Interfaces
Let q be the body of a subroutine
Let s be its specification
Let (q .. s) assert that q meets s
Programmer error (⊤) if incorrect
Caller of subroutine may assume that
s describes all itsexecutions
• Implementeation may execute q
•
•
•
•
•
Subroutine with interface: q .. s
• Define (q..s) as glb of the set
q⊑_ & _⊑s
• Theorem: (q.. s) = q
= ⊤
if q ⊑ s
otherwise
Basic statements/assertions
•
•
•
•
•
•
•
•
skip
bottom
top
assignment:
assertion:
assumption:
finally
initially


⊤
x := e(x)
assert b
assume b
..b
b..
more
•
•
•
•
assign thru pointer:
[a] := e
output:
c!e
input:
c?x
points to:
a|-> e
– a |-> _
• throw
• catch
=def
exists v . a|-> v
Laws(examples)
• assume b
• assert b
=def
=def
• x:=e(x) ; x:=f(x)
b..⊓
b..⊓ ⊔ not(b)..
=
x := f(e(x))
– in languages without interleaving
more
• p|-> _ ; [p] := e
⊑
p|-> e
=
x := e
– in separation logic
• c!e | c?x
– in CSP but not in CCS or Pi
• throw x ; (catch x; p) =
p
Part 3
Unifying Semantic Theories
• Six familiar semantic definition styles.
• Their derivation from the algebra
• and vice versa.
algebraic laws
deduction rules
operational rules
Hoare Triple
• a method for program verification
• {p} q {r} ≝ p;q ⊑ r
– one way of achieving r
is by first doing p and then doing q
• Theorem:
– {p} q {s} & {s} q’ {r} implies
– proved by associativity
{p} q;q’ {r}
Plotkin reduction
• a method for program execution
• <p , q> -> r
=def p ; q ⊒ r
– if p describes state before execution of q
then r describes a possible final state, eg.
– <..(x2 = 18) , x := x+1> -> ..(x = 37)
• Theorem:
• <p, q> -> s & <s, q’> -> r
implies
<p, q;q’> r
Milner transition
• method of execution of concurrent
processes
• p – q -> r
≝ p ⊒ q;r
– one of the ways of executing p is by first
executing q and then executing r .
– e.g., (x := x+3) –(x:=x+1)-> (x:=x+2)
• Theorem:
– p –q-> s & s –q’-> r => p –(q;q’)-> r
(big-step rule for ; )
test generation
• method of test case generation
• p[q]r
=def
p ⊑ q;r
– if r describes erroneous states resulting
from execution of q , then p describes
some initial states in which a test-run of
q will certainly reveal the error.
• Theorem:
• p [q] s & s [q’] r implies
p [q;q’] r
Summary
• {p} q {r}
=def
p;q ⊑ r
=def
p;q ⊒ r
– Hoare triple
• <p,q>->r
– Plotkin reduction
• p –q->r
=def
p ⊒ q;r
=def
p ⊑ q;r
– Milner transition
• p [q] r
– test generation
Sequential composition
• Law: ; is associative
• Theorem: sequence rule is valid for all four
triples.
• the Law is provable from the conjunction of all
of them
Skip 
• Law:
p; = p = ;p
• Theorems:
{p}  {p}
p [] p
p − → p
<p,  > –>p
• Law follows from conjunction of all
four theorems
Left distribution ; through ⊔
• Law: p;(q ⊔ q’) =
• Theorems:
–
–
–
–
p;q ⊔ p;q’
{p} (q⊔q’) {r}
if {p}q{r}
<p,q⊔q’>-> r if <p,q>->
p [q⊔q’] r
if p [q] r
p -(q⊔q’)-> r if p –q->r
(not used in CCS)
and {p}q’{r}
r or <p, q’>-> r
or
p [q’] r
and p -q’->r
• law provable from either and rule
together with either or rule.
locality and frame
• left locality (s|p) ; q ⊑ s | (p;q)
• Hoare frame: {p} q {r} ⇒ {s|p} q {s|r}
• right locality p ; (q|s) ⊑ (p;q) | s
• Milner frame: p -q-> r⇒(p|s) - q-> (r|s)
• Full locality requires both frame rules
Separation logic
• Exchange law:
– (p | p’) ; (q| q’)  (p ; q) | (p’;q’)
• Theorems
– {p} q {r} & {p’} q’ {r’} ⇒ {p|p’} q|q’ {r|r’}
– p -q -> r & p’–q’-> r’ => p|p’ –q|q’-> r|r’
• the law is provable from either theorem
• For the other two triples, the rules are
equivalent to the converse exchange law.
usual restrictions on triples
•
•
•
•
•
•
in {p} q {r} ,
in p [q] r ,
in <p,q>->r,
in p –q->r,
in p –q->r
(in all cases,
p and r are of form
..b, ..c
p and r are of form b.., c..
p and r are of form ..b, ..c
p and r are programs
(small step), q is atomic
q is a program)
• all laws are valid without these restrictions
Weakest precondition (-;)
Specification statement (;-)
• (q -; r) =def
the weakest solution of ( _ ;q ⊆ r)
– the same as Dijkstra’s wp(q, r)
– for backward development of programs
• (p ;- r) =def
the weakest solution of ( p ; _ ⊆ r)
– Back/Morgan’s specification statement
– same as p⇝r in RGSep
– for stepwise refinement of designs
Weakest precondition (-;)
• Law (-; adjoint to ;)
– p ⊑ q -; r iff
p;q ⊑ r
(galois)
• Theorem
– (q -; r) ; q ⊑
–
p ⊑
r
q -; (p ; q)
• Law provable from the theorems
– cf. (r div q)  q
–
r
≤
≤
r
(rq) div q
Theorems
• q’ ⊑ q & r ⊑ r’ => q-;r ⊑ q’-;r’
• (q;q’)-;r
⊑ q-;(q’-;r)
• q-;r
⊑ (q;s) -; (r;s)
Law of consequence
Frame laws
Part 4
Denotational Models
A model is a mathematical structure that
satisfies the axioms of an algebra, and
realistically describes a useful application, for
example, program execution.
Models
denotational
models
algebraic
laws
Some Standard Models:
• Boolean algebra
( {0,1}, ≤, , , not(_) )
• predicate algebra (Frege, Heyting)
– (ℙS,├, , , not(_), => , ∃, ∀)
• regular expressions (Kleene):
– (ℙA*, ⊆, ∪, ; , ɛ , {<a>} , | )
• binary relations (Tarski):
– (ℙ(SS), ⊆, ∪, ∩, ; , Id , not(_), converse(_))
• algebra of designs is a superset of these
Model: (EV, EX, PR)
• EV is an underlying set of events (x, y,
..) that can occur in any execution of
any program
• EX are executions (e, f,…), modelled
as sets of events
• PR are designs (p, q, r,…), modelled as
sets of executions.
Set concepts
•
•
•
•
•
⊑
⊔
⊓

⊤
is
is
is
is
is



{}
EV
(set inclusion)
(set union)
(intersection of sets)
(the empty set)
(the universal set)
With (|)
• p|q =
{e ∪ f | e ε p & f ε q & e∩f = { } }
– each execution of p|q is the disjoint
union of an execution of p and an
execution of q
– p|q contains all such disjoint unions
• | generalises many binary operators
Introducing time
• TIM is a set of times for events
– partially ordered by ≤
• Let when : EV -> TIM
– map each event to its time of occurrence.
Definition of <
• x < y =def not(when(y) ≤ when(x))
– x < y & y < x means that x and y occur ‘in
true concurrency’.
• e < f =def ∀x,y . x∊e & y∊f => x < y
– no event of f occurs before an event of e
– hence e<f implies ef = { }
• If ≤ is a total order,
– there is no concurrency,
– executions are time-ordered strings
Sequential composition (then)
• p ; q = {ef | e∊p & f∊q & e<f}
• special case: if ≤ is a total order,
– e < f means that ef is concatenation
(e⋅f) of strings
– ; is the composition of regular expressions
Theorems
• These definitions of ; and | satisfy
the locality and exchange laws.
• (s|p) ; q ⊑ s |(p;q)
• (p|q) ; (p’|q’) ⊑ (p;p’) | (q;q’)
– Proof: the lhs describes fewer
interleavings than the rhs.
• regular expressions satisfy all our laws
for ⊑ , ⊔ , ; , and |
Disjoint concurrency (||)
• p||q =def (p ; q)  (q ; p)
– all events of p concurrent with all of q .
– no interaction is possible between them.
• Theorems: (p||q) ; r  p || (q ; r)
(p||q) ; (p’||q’)  (p;p’) || (q;q’)
– Proof: the rhs has more disjointness
constraints than the lhs .
– the wrong way round!
• So make the programmer responsible for
disjointness, using interfaces!
Interfaces
•
•
•
•
•
Let q be the body of a subroutine
Let s be its specification
Let (q .. s) assert that q is correct
Caller may assume s
Implementer may execute q
Solution
• p*q =def (p|q => p||q)
= p|q
if
p|q ⊑ p||q
⊤
otherwise
– programmer is responsible for absence of
interaction between p and q .
• Theorem: ; and * satisfy locality
and exchange.
– Proof: in cases where lhs ≠ rhs, rhs = ⊤
Problem
• ; is almost useless in the presence of
arbitrary interleaving (interference).
• It is hard to prove disjointness of p||q
• We need a more complex model
– which constrains the places at which a
program may make changes.
Separation
• PL is the set of places at which an
event can occur
• each place is ‘owned’ by one thread,
– no other thread can act there.
• Let where:EV -> PL map each event
to its place of occurrence.
• where(e) =def {where(x) | x ∊ e }
Separation principle
• events at different places are
concurrent
• events at the same place are totally
ordered in time
• ∀x,y ∊ EV .
where(x) = where(y) iff x≤y or y≤x
Picture
space
time
Theorem
• p || q = {ef | e ∊ p & f ∊ q
& where(e)  where(f) = { } }
• proved from separation principle
Convexity Principle
• Each execution contains every event
that occurs between any of its events.
• ∀e ∊ EX , y ∊ EV. ∀x, z ∊ e .
when(x) ≤ when(y) ≤ when(z) => y ∊ e
– no event from elsewhere can interfere
between any two events of an execution
A convex execution of p;q
p
space
time
q
A non-convex ‘execution’ of p;q
p
space
time
q
Conclusion:
in Praise of Algebra
•
•
•
•
Reusable
Modular
Incremental
Unifying
•
•
•
•
• Beautiful!
Discriminative
Computational
Comprehensible
Abstract
Algebra likes pairs
• Algebra chooses as primitives
– operators with two operands
– predicates with two places
– laws with two operators
– algebras with two components
+,
=,
&v,+
rings
Tuples
• Tuples are defined in terms of pairs.
– Hoare triples
– Plotkin triples
– Jones quintuples
– seventeentuples …
Semantic Links
denotations
algebra
deductions
transitions
Increments
algebra
Filling the gaps
algebra