ALLI/O Diagram: An Action-based Visual Programming Language for Embedded System

This paper introduces ALLI/O Diagram, an action-based visual programming language for embedded system programming used by the ALLI/O IDE. We illustrate the practicality of ALLI/O Diagram with various design examples and evaluate it against block-based, event-based, device-based, and state-based programming approaches in terms of programming effort, readability, and portability of the result programs. These results demonstrate that our proposed ALLI/O Diagram is the most compact, expressive, and portable across different hardware models. We open source the ALLI/O Diagram and all example programs at https://allio.build.