Real Time Developer Studio. Emmanuel Gaudin

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1 Real Time Developer Studio Emmanuel Gaudin

2 PragmaDev French SME, Beneficiary since Dedicated to the development of a modelling tool for the development of Event driven software.

3 Partners

4 References Universities : ENST, Polytechnica Bucarest, Telecom Beijing Distributors: United States, Asia, Europe

5 Long term investment Source code access in case of failure: Economical Technical Strategic Possible audit of the code Possible third party take over Continuous integration

6 Philosophy Develop a modelling tool based on the users needs.

7 Target segment Event driven systems Embedded & Real time Decomposed in tasks running concurrently Communicating Synchronizing Application Module 1 Module 2 Module 3 Message queue driver OS-RTOS-Scheduler hardware driver Semaphore

8 Issues The software content is doubling about every two years. The sheer volume is making it increasingly difficult for QA and test teams to keep up with traditional tools and processes. Wind River Market Survey of Device Software Testing Trends and Quality Concerns in the Embedded Industry - June Never forget the 1:10:100 rule Software development costs only comprise a portion of the total cost of software ownership. However, the development process itself has a significant impact on total cost of ownership. Total Cost of Ownership: Development is (only) Job One by Daniel D. Galorath - June Source: James Martin study

9 What modelling can solve Focus first on the What (Req) instead of focusing on the How (code), Modelling is about Communication and Documentation, Legibility of large systems gets critical. Would you build a house without drawing detailed plans? Get control over productivity, Improve quality.

10 Requirements for a good modeling language The abstract model must be platform independant, as its name states. The abstract model must be translatable to an implementation platform. For that purpose, the abstract model is based on a virtual machine offering: Some basic services A strong enough semantic.

11 Existing modelling languages SDL UML Specification and Description Language is an ITU-T standard. Event oriented, Used by ETSI to standardize telecommunication protocols, Formal (complete and non-ambiguous). Unified Modeling Language is an OMG standard. Can be used to represent any type of systems, Informal. SysML System Modelling Language AADL Architecture Analysis Description Language MARTE profile Modeling and Analysis of Real-Time and Embedded systems Z.109 UML profile based on SDL Lustre / Esterel Synchronous programming languages for the development of complex reactive systems MATLAB MAtrix LABoratory Autosar AUTomotive Open System Architecture SART Structured Analysis for Real Time (obsolete)

12 Modelling languages positioning Requirements Architecture Analysis URN AADL SysML UML SDL MARTE Matlab Static verification Specification Design Generic Generic HW/SW HW/SW Async SW Sync SW Dynamic verification is best at identifying defects because requirements are usually dynamics Dynamic verification

13 No real time specificity in UML UML 1.x is too generic to describe the dynamics of the model, UML 2.x introduced domain specific profiles, Lots of tools defined proprietary profiles, Users spend more defining their profile thatn their system, Z.109 is a standardized profile based on SDL.

14 SDL: the perfect picture SDL graphical abstraction (architecture, communication, behavior, services) fits the needs. SDL being formal, it is possible to simulate the model. SDL being formal, partial or full code generation is possible. SDL being object oriented, software components are reusable. System are globally asynchronous (GALS) so SDL can be used at system level. SDL has the characteristics to describe a good PIM. SDL is recognized by certification authorities (European Aviation Safety Agency Certification Memorandum, ETSI, ESA)

15 SDL: the figures Years of experience allows to quantify gains of SDL usage. C code: 35 to 50 mistakes per 1000 lines SDL code: 8 mistakes per 1000 lines Development time is globally reduced by 35% Reduced up to 50% in the left branch of the V cycle Less gain on the right side of the V because of the gap with technical reality

16 SDL: design problems All existing software modules (RTOS, drivers, legacy code) provide C APIs, not SDL, Some classical real time concepts are not present in SDL such as pointers and semaphores, SDL syntax is not suited for design. Integration with legacy code is difficult, Integration with COTS components is tricky (driver or RTOS), Developers are frustrated, Generated code is not legible,

17 An intermediate solution: SDL-RT Keep UML diagrams at high level during analysis and requirements Keep the SDL graphical abstraction Analysis UML (architecture, communication, behavior). Introduce C data types and syntax Specification SDL SDL-RT instead of SDL s. Remove SDL concepts having no practical implementation. Design C C++ Extend SDL to deal with uncovered real time concepts (interrupts, semaphores). Real time

18 SDL-RT SDL-RT is: Generalization of SDL to all applications running on top of a RTOS, Available from for free, Legible, Standardized by ITU-T in December 2012 as part of SDL (Z.104), A UML real time profile.

19 Specification and Description Language, l ITU-T standard intended to write the detailed specifications of the protocols in order to make sure they will interoperate. Major updater every 4 years since Major releases: SDL 1988: First mature version SDL 1992: Object orientation SDL 2000: UML alignment SDL 2010: C types support in Z.104 Anual conference SDL Forum ( SAM workshop (satellite event of Models) 11 commercial tools, 10 public domain tools. Integrated technology in TASTE ESA framework.

20 Views: Library of components Relations between static classes (C++) and dynamic classes (SDL)

21 Views: Architecture and communication

22 SDL abstract data types or SDL-RT C/C++ data types. Views: Behavior and Data Process A

23 Views: Operating system services A semaphore take A timer is started When the timer goes off A semaphore give SDL-RT state

24 Physical deployment Views: Distributed systems

25 Model views Library of components System architecture Interface definitions Application deployment Real time concepts Key points in the design

26 Message Sequence Chart MSC: dynamic view Vertical lines represent a task, the environment or a semaphore, Arrows represent message exchanges, semaphore manipulations or timers. Can be used: As specification Execution traces

27 RTDS: supported languages Analysis UML Specification SDL Z.100 SDL-RT TTCN-3 Design C C++ Informal Fully formal Semi formal Testing

28 RTDS: supported languages Informal modelling for requirements: UML Edition C++ stubs generation Semi-formal modelling for design: SDL-RT Edition Syntaxic et semantics checking Code generation Graphical debugging Fully formal modelling for specification: SDL Z.100 Edition Syntaxic et semantics checking Simulation Verification Code generation Graphical debugging Test

29 Model simulator A graphical debugger for fully formal models and TTCN-3 test cases Set breakpoints and step in the model, Dynamic traces.

30 Code generation C++ skeleton for static classes C or C++ for dynamic classes Generated code is legible Generation profile wizard The code is: Integrated with: FreeRTOS, VxWorks, OSE, OSE Epsilon, CMX RTX, Nucleus, uitron, Posix, ThreadX, and Win32, Provided with an scheduler, Royalty free, Documented for customization.

31 Debugging architecture The Model debugger relies on a traditional C debugger or cross debugger to provide graphical debugging. Model C code generator Generated C code compiler External C/C++ Model editor socket Binary RTOS cible MSC tracer Text editor Model debugger Real Time Developer Studio tools Third party tools Source code Binary code socket / COM / pipe C debugger MinGW Tornado Tasking gdb XRAY Multi

32 Relies on the target semantic: processor and RTOS. Debug in the model: Breakpoints, stepping, in the SDL/RT diagrams or in the generated C files, Dynamic MSC traces, Connecting an external tool is possible through a socket. Model debugger

33 Switch between Model Generated C/C++ code Debug features

34 Execution traces: States, Events, Semaphores, Timers. Trace level configuration Display of system time Graphical traces MSC Diff allows to check: Conformity, Non-regression.

35 Model coverage Graphical model coverage analysis Merge feature

36 Prototyping interface Knows about the model inputs and outputs. Connects automatically to the simulator or the debugger.

37 Documentation generation Logical publications (state, transition, partition, diagram) Comments preceeding or following the publication Styles for paragraphs Styles for characters Export format RTF OpenDocument HTML SGML Exported elements Texts with publications Index entries Table of contents entries

38 Documentation generation A document The generated documentation A publication

39 Standard testing language Relies on basic services Messages Procedures Timers Parallel execution Based on TTCN-3 international standard: Data types definitions or ASN.1, Templates definitions, Test cases, Verdict, Execution control.

40 TTCN-3 support Textual language Simulator with Test manager C++ code generator TTCN-3 to MSC generation MSC to TTCN-3 generation TTCN-3 generation from a property on the model (Verimag) TTCN-3 generation based on model coverage (to come)

41 Continuous integration Specification Simulation Validation testing Design Simulation Execution Integration testing Implementation Execution Unit testing

42 Model checking Partnership with Verimag on IF technology. Exhaustive simulation, Observers, Test generation. RTDS feature Export to IF, Execute a script Generate an MSC feedback.

43 Implementation Model SDL translate to file IF Property Observer IF compiler executable executes State file Transition file Error file Test case Analysis TTCN MSC socket Python script Resulting scenario

44 Reference testing Requirements Use cases Specification Reference scenarios Properties Validation testing Design Simulation Execution Integration testing Implementation Execution Unit testing

45 Upcoming collaboration Common lab with French Nuclear Research Agency (CEA): Symbolic technology: Diversity. Generate a minimum number of test cases covering all transitions. SDL -> XLIA -> TTCN-3 Export FIACRE: CADP. TINA.

46 Property Sequence Chart PRESTO european project: Functional property verification. Non functional property verification. Free too: PragmaDev Tracer

47 ESA Taste framework integration ASN.1 AADL ASN.1 ASN.1 Matlab Encodeurs / Décodeurs RTDS Encodeurs / Décodeurs Scade Encodeurs / Décodeurs Ada Control law Event driven Control law Generic

48 /* _PRAGMADEV_START*/ /* _PRAGMADEV_TASK_START */ i = 0; j = 0; /* _PRAGMADEV_TASK_END */ /* _PRAGMADEV_NEXTSTATE Idle*/ /* _PRAGMADEV_STATE Idle*/ /* _PRAGMADEV_INPUT Error(); */ /* _PRAGMADEV_NEXTSTATE ErrorState*/ /* _PRAGMADEV_INPUT Valueof(coor); */ /* _PRAGMADEV_DECISION coor == 3 */ if ( coor == 3 ) /* _PRAGMADEV_BRANCH true */ /* _PRAGMADEV_TASK_START */ {x = 5;} /* _PRAGMADEV_TASK_END */ /* _PRAGMADEV_NEXTSTATE Idle*/ /* _PRAGMADEV_BRANCH false */ else /* _PRAGMADEV_TASK_START */ {x = 7;} /* _PRAGMADEV_TASK_END */ /* _PRAGMADEV_NEXTSTATE Idle*/ /* _PRAGMADEV_ENDDECISION */ /* _PRAGMADEV_ENDSTATE*/ /* _PRAGMADEV_STATE ErrorState*/ /* _PRAGMADEV_INPUT End(); */ /* _PRAGMADEV_STOP */ /* _PRAGMADEV_ENDSTATE*/ Model generation From comments in legacy code Includes architecture information

49 Project management Textual storage format, graphical diff tool, and an automatic merge tool provide a consistent integration with configuration management tools. Single diagrams can be exported as PNG, JPEG, PS, and HTML. Full documentation of the model can be generated. Traceability information and Reqtify integration. System requirements: Solaris, Windows, Linux. Floating licenses.

50 Conclusion Three levels of modelling: Informal, Semi-formal, Formal. Tools to: Document, Simulate, Validate, Test. Based on international standards. Integrated in Taste framework.

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