Approaches to Improve System Dependability From Formal Verification to Model-Based Testing

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1 Approaches to Improve System Dependability From Formal Verification to Model-Based Testing Andreas Ulrich, Peter Amthor, Marlon Vieira Siemens AG, Corporate Technology, CT SE/SCR Siemens Corporate Technology Present in all leading markets and technology hot spots Berkeley >300 Princeton Romsey (RMR) St. Petersburg >2000 >200 Moscow Beijing Tokyo Intellectual Property & Functions Shanghai >1900 >500 Berlin Munich Erlangen others Research & Development (Distribution of employees by functions) Bangalore 2

2 Corporate Technology, Software & Engineering Analysis and Engineering of Complex Systems Optimization of Planning, Decision, and Production Processes Discrete Optimization SE 6 Systems Engineering SE 5 Quality and Efficiency in Software Development Development Techniques SE 1 Software & Engineering Information Broker Information Brokers and Technical Liaison Managers Architecture SE 2 Software Architecture for Distributed, Mobile und Embedded Systems Project Management SE 4 Software Initiative Software Processes SE 3 Project Management and Innovation Siemens Software Initiative System and Software Processes Dependability Focus of Work in Dependability Engineering Attributes Means Availability Reliability Safety Confidentiality Integrity Maintainability Fault prevention Fault tolerance Fault removal Fault forecasting Our focus Dependability Competence Team at Siemens CT SE Threats Faults Errors Failures [source: J.-C. Laprie et al., 2000] 4

3 Requirements Fault Prevention by Model Driven Design and Formal Verification Informal Design Model formalize Formal Model (refined) Application Domain Formal Verification Properties to be checked refine Results Correct Model 5 Formal model Formal Verification Typically extracted manually from an informal model and requirements But possible reuse of models from model-driven design Matlab/Simulink Lustre, Esterel (Scade) Statecharts, UML models (Rhapsody etc.) Requires transformation to the input language of a model-checker Set of properties What properties to be checked? Structural properties, reachability Derived from requirements Requires in-depth system knowledge and knowledge in formal languages (e.g. LTL) hard! 6

4 Example: Verification of the PROFIsafe Protocol F-Host/FPLC Standard-I/O Profibus DP DP/PA F-I/O Emergency push buttons Coexistence of standard and failsafe communication Standard-Host/PLC Repeater PG/ES with secure access e.g. Firewall F-Gateway Standard-I/O TCP/IP Engineering Tool F = Failsafe F-Sensor other Safety- Bus Master-Slave Assignment F-Field- Device F-Actuator Peer Slave F Communication F-Actuator 7 PROFIsafe Protocol Architecture Host Host Application Process F-Host F-Host Failsafe Communication Slave Slave Application Process F-Input Slave Slave Grey Channel 8

5 8 message prepare if message prepared send if host timeout store fault, x=x+1, use FV, restart host- timer if host CRC or slave timeout or slave CRC/cons.Nr. or not operator ack. store faults, x=x+1, use FV if stored faults before/during system start x=1, use FV 9 await slave ack 10 slave ack check if ack. received with cons.nr.=x and not host timeout restart host- timer 7 slave ack check 1. PROFIsafe Statechart PROFIsafe Modeling Approach parametrization ok configuration ok initial values = 0 restart host-timer if wait delay time store fault, restart host- timer if host CRC 11 wait delay time or slave timeout or slave CRC/cons.Nr. if host timeout store faults, x=x+1, use FV, x=x+1, use FV restart host- timer if ack. received with old cons.nr. if ack. received not with old cons.nr and not host timeout and not host timeout restart host- timer if not faults x=x if slave FV activated or ipar use FV else use PV 6 await slave ack if message prepared send 5 message prepare 1 system start 4 slave ack check if not faults if not faults and operator ack. old cons.nr. = x, x=x+1, reset stored faults, if slave FV activated or old cons.nr. = x, x=x+1, ipar if slave FV activated or ipar use FV use FV else use PV else use PV if host CRC or host cons.nr. or slave timeout or slave CRC/cons.Nr. store faults, x=x+1, use FV if not stored faults before system start x=0, use FV if host timeout store fault, x=x+1, use FV, restart host- timer 2 message prepare if message prepared send 3 await slave ack if ack. received with cons.nr.=0 and not host timeout restart host- timer in_cons_num == out_cons_num && in_crc == ok && in_ps_status_bit3_to == 0 && in_ps_status_bit2_crcno == 0 ] { old_cons_num = out_cons_num; inc_cons_num; use_fv_slave; } 2. Refined Statechart 3. MC Input Model (in-house MC used) 9 Structural properties PROFIsafe Properties Absence of livelocks and deadlocks External inputs can be handled in all states Deterministic behavior Specific properties F-host activates FV after Timeout F-host activates FV after CRC Fault Fault identified F-slave activates FV after Timeout F-slave activates FV after CRC Fault Possible improvements Check CRC in initial operation of F-host Clarify how F-slave should handle status bits 2 and 3 10

6 Correct Model What Next? Generation of production code from verified model How feasible is the approach? Automatic code generation is still a challenge, e.g. in the embedded domain on special hardware Verified model mostly domain-specific, i.e. no general-purpose code generator Efficiency of auto-generated code? Generated code must run in an unknown, i.e. not verified, environment If environment is unknown, how sure can one be that the verification results are preserved? Product certification does not like auto-code generation Is there an alternative to production code generation? Yes, generation of test code, model-based testing! 11 Proving vs. Testing Beware of bugs in the above code; I have only proved it correct, not tried it. [Donald E. Knuth, 1977] 12

7 PROFIsafe Test Case Generation (Fault Removal) Test Test Sequence Sequence #1 # rcv[pv][0][0][nok] rcv[pv][0][0][nok] Test Test Case Case send[1][0][1][0] Generation send[1][0][1][0] Generation4. 4. rcv[pv][0][1][ok] rcv[pv][0][1][ok] send[1][0][1][1] send[1][0][1][1] rcv[pv][0][2][ok] rcv[pv][0][2][ok] Model of F-Slave send[1][0][0][2] send[1][0][0][2] rcv[pv][0][3][ok] rcv[pv][0][3][ok] send[1][0][0][3] send[1][0][0][3] rcv[pv][0][4][ok] rcv[pv][0][4][ok] Test Test Run Run send[0][0][0][4] send[0][0][0][4] Structural test coverage criterion F-Slave Implementation 13 Test cases PROFIsafe Project Results Serve as compliance checks for PROFIsafe product suppliers Identified errors in PROFIsafe reference implementation Accepted by TÜV Süddeutschland for certification Formal verification Helps identify ambiguities in system requirements and the design model Supports a clean documentation of the design Requires close communication link between domain experts and verification experts Still an expensive approach 14

8 Design and test process Model-Based Testing Evolution Model-driven development vs. Test-driven development Ingredients of MBT Our focus Formal model, e.g. UML + semantics Test generation algorithm Coverage criterion MBT approaches based on test models mainly UML based techniques, U2TP reverse engineering Design Model coding testing System designing Conform? testing Requirements designing Test Model 15 Test Generation: The TDE/UML Tool Workflow UML Editor Kit System Specification 1. Use Use Case Case Specification Specification Flow of Business Flow of Business Events Rules Events Rules Test Management UML Models <<include>> CancelEncounter UpdateEncounter Registrar <<include>> PrintArtifacts 3. TDE/UML 2. Annotations Tester Problem in the model Test Scripts Application SUT G Capture/ U Replay Tool I Capturing Snipplets Executing/Verifying Test Scripts Test Executor 6. Feedback Developers Problem Successful in the Validation system 16

9 Modeling in TDE/UML The MS Word Example Modeling of a GUI pop-up window in a UML activity diagram + annotations 17 TDE/UML The NYC Subway Project Project at Siemens Transportation (TS) Contribution Deployment of a MBT approach in system testing of the NYC Subway Railcom project Modeling of about 300 system requirements in UML in Rational Rose Generate system tests in IEEE 829 format Creating and running executable test scripts in Rational XDE Tester Benefits to the customer Currently about 130 test cases generated (about 200 expected) Modeling helps uncover incomplete and/or inconsistent specifications Cost of maintenance is reduced due to a systematic and repeatable test approach 18

10 The NYC Railcom Project TDE/UML Approach Rational Rose Plug-In for Modeling Statistics about test generation TDE/UML Test Generator Coverage: round-trip criteria Refinement: all refinements Data variations: all choices Generated Test Script 19 TDE/UML Summary Supports a model-based approach for testing Generation of test cases for manual and/or automatic execution Current projects demonstrate the usefulness of the approach Decreased effort for test maintenance Increased notion of requirement coverage during test creation/execution Decreased overall time for test creation Model-based testing must be introduced as a service Models are domain dependent Transformation from informal requirements to formal models requires experts Lower entry level required compared to formal verification 20

11 How to Improve the Penetration of Formal Methods? Reward [source: J. Rushby, 2004] Effort Invisible formal methods may offer high rewards at low/moderate efforts 21 Invisible Formal Methods in Practice Further Work Some new commercial tools deploy this principle Support of extended source code analysis Polyspace Intel Thread Checker Support of test case generation Reactis (for Simulink Stateflow) Other (similar) projects in this context at Siemens CT SE Fault diagnosis from communication traces of a distributed system using formal verification (SPIN) Model reconstruction from traces Library of predefined properties (application dependent, e.g. UTRAN) Validation of (manually derived) test suites, e.g. quality, coverage 22

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