Real time system modeling with UML: current status and some prospects

Transcription

1 Real time system modeling with UML: current status and some prospects François Terrier, Sébastien Gérard LETI (CEA - Technologies Avancées) DEIN CEA/Saclay F Gif sur Yvette Cedex France Phone: ; Fax: Francois.Terrier@cea.fr ; Sebastien.Gerard@cea.fr

2 Embedded systems soon > 50 % of market! With more and more importance of software "

3 Use of a «universal» modeling standard " We must go from artisanal practices to industrial production solutions OMT # high level modeling and component based development Booch OOSE # Idea integration of complementary/concurrent modeling notations proposed for OO methods Fusion Classe-Relation ROOM HOOD etc... Fin 1990

4 Use of a «universal» modeling standard " We must go from artisanal practices to industrial production solutions # high level modeling and component based development # Idea integration of complementary/concurrent modeling notations proposed for OO methods OMT (Rumbaugh et al.) Booch OOSE (Jacobson et al.) 1995 Rational Unified Method UML 0.9 OMG UML 1.1 Nov UML 1.3 UML 1.4 June 1999 UML 2.0 End of 2000 Catalysis ROOM etc.

5 But what about real-time systems? " Importance of dynamic in such system requires the specialization of the modeling language " Solutions have been developed to integrate current practices into the UML OO framework:! More or less advanced levels of integration of real time and object paradigms " Variability of the practices of real time domain depending on the context: small embedded system or installation control and command, production automaton, distributed systems, safety critical systems, telecom, high performance computing # Low level of automatic integration of the «good practices»

6 # # # Menu # #!"!" # # $ $%$ # %

7 UML 1.3: essential models " $ % # " $ % # " &' '( ) $ % # " % $ % # " %'% $ % #

8 system actor use case Speed Regulator relation SpeedSensor regulate speed «include» Motor start regulating Regulator On/Off stop regulating environment system border

9 class role association RegulatingLaw reglaw 0..* Regulator arity generalization aggregation Regulator_S sp 0..* Speed Active objects

10 " *+,'+ anactiveobject,- Messages???? Memory space operations code Messages Attributes? #. &#/ "

11 instance Sequence diagram :Regulator maintainspeed() calculate() dtorque :RegulatoingLaw :RegulatorScreen Synchronous message response update(info) Life line Asynchronous message time

12 " # $ " #! $ #! $ "

13 Initial state state State machine Off Trigger event guard start [vitesse>30] / startregulating() Off stop/ action expression final state transition

14 Initial state state State machine composite state Off start [vitesse>30] / startregulating() Trigger event guard On Off /maintainspeed() Running suspend resume Suspended stop/ action expression group transition final state transition

15 UML state machines " " )0 & % *&& - # " #!$ $! $! $! $ " #! messages " % ( %$& # % &!&# " & $ ) %) $1 %$& # " "! # ' & %

16 UML 1.3 timing specifications " % )1$# / # " "! after(10 ms) / action-list S 1 S 2 A timer is set to fire 10ms later 10ms later, if no state change % # ( $ % {b.receivetime a.sendtime < 1sec.} a: m 1 b: m 2 < 1 sec. 0 3 c: m 3 propagation delay of the message % ' & # #

17 instanceof Entity MOF Meta Meta Model (M3) instanceof instanceof Class SPE UML Meta Model (M2) instanceof Real Time? SDL? Standard profiles (M2) UML-RT Specific user profiles (M2) instanceof Car Application model Model (M1) instanceof instanceof mycar Application implantation Objects (M0) instanceof

18 UML 1.3: specialization mechanisms "! 2 "$'3 % "% "!!" # $ % & 2 "$'38'3#83 89 "! 2 "$'+,+,

19 UML 1.3: specialization mechanisms " " " Set of tagged values and of constraints specializing an element of the meta-model Organisation needs! notion of Profile in UML 1.3

20 UML profile definition "Objective Specialization of a standard meta-model (e.g., UML) into a specific meta-model dedicated to a given application domain.

21 UML profile definition " A profile can contain: Fundamental meta-classes on which is based the profile! Selected elements of the reference meta-model

22 UML profile definition " A profile can contain:! Selected elements of the reference meta-model Stereotypes, tagged values, constraints added to the profile! Extension mechanisms

23 UML profile definition " A profile can contain:! Selected elements of the reference meta-model! Extension mechanisms Clarification of «Semantics Variation Points» or UML ambiguities! Descriptions of the profile semantics

24 UML profile definition " A profile can contain:! Selected elements of the reference meta-model! Extension mechanisms! Descriptions of the profile semantics e.g.: Mr Dupont «driver» Mr Dupont! Additional notations

25 UML profile definition " A profile can contain:! Selected elements of the reference meta-model! Extension mechanisms! Descriptions of the profile semantics! Additional notations Système e.g.:? Train Circuit Control! Rules for model translation, validation, presentation

26 UML 1.3: lacks, ongoing works at the OMG " # : + $ $%, $ ( & ) *+, -! $ #. $. # : % $ " -/ & 0(+. # ;< $:% = ' 6

27 ARTiSAN: two orthogonal models, weak integration " update read # A classical UML modeling facilities # A classical task model called the concurrent model # An implementing stage (assignment of the objects to tasks) ::Commande * preglaw ::RegulatingLaw calculate PMH update() Control calculation Channel1 Speedmeter control PMH Control calculation Channel1 Speedmeter control reglaw:commande read() Speedmeter Actuator control Motor Actuator Speedmeter Actuator control Motor Actuator " <% )% %% " )# < )0 %# < " %$ %) %% # & &1 2 & &#

28 RT-UML: two «orthogonal» but «integrated» models " ' #. & ) % &)0 «reactive» RegControl prc 1 pac 1 pac 1 ActuatorControl RegulatingLaw SensorControl SpeedRegulator_Behavior stopregulating() / updatescreen(off); Off On startregulating() / targetspeed = returnvalue;! Rhapsody tool

29 RT-UML: two «orthogonal» but «integrated» models " ' #. & ) % &)0 # &)0 $ &)0 6 # %% )% $)# &)0 «reactive» RegControl prc 1 pac 1 pac 1 ActuatorControl RegulatingLaw RegControlTask RegControl ActControlTask ActuatorControl SensorControl Off SpeedRegulator_Behavior stopregulating() / updatescreen(off); startregulating() On / targetspeed = returnvalue; SensorControl! Rhapsody tool

30 RT-UML: non homogenous features " $% )# $ # $% &1 # $% &1 $ $ % & ' $ ( ) # ## " # &. & # " : ) $ &)0 & '. " %$ %)%%

31 UML/SDL: association of UML analysis and SDL design " ()* # '( $ % # &)0 & # : &)0 & ) RegControl prc 1 SensorControl pac 1 pac 1 ActuatorControl RegulatingLaw RegControl [speed] C2 SensorControl C1 [cmd] ActuatorControl Newtype RegulatingLaw Operators calculate : Speed, Speed -> TorqueVariation endnewtype:;

32 UML/SDL: association of UML analysis and SDL design " ()* # '( $ % # &)0 & # : &)0 & ) RegControl pac 1 ActuatorControl prc 1 pac 1 RegulatingLaw SensorControl Stopped Running stopregulating updatescreen(off) startregulating targetspeed = returnvalue Running Stopped Off SpeedRegulator_Behavior stopregulating() / updatescreen(off); On startregulating() / targetspeed = returnvalue; RegControl [speed] C2 SensorControl C1 [cmd] ActuatorControl Newtype RegulatingLaw Operators calculate : Speed, Speed -> TorqueVariation endnewtype:;

33 UML/SDL: mapping is under user responsibility " # % & # &)0 %& # &)0 %% & $ 1 $ " + + " & ##&%% % % 3"-*+.

34 UML-RT: attempt to integrate task and object paradigms " " & # #) $ < %% $ # & % " " & # $$ & %% Signal sending «capsule» anemitter : Emitter State 1 porta.send (s 1 ); «protocol» infoproto incoming S 1 Protocol capsule link portb : infoproto~ porta : infoproto «capsule» areceiver : Receiver Behaviour State 2 Communication port! 1 $% $

35 UML-RT (ROOM/ObjecTime & ROSE-RT): Synthesis " #! %/& % $) «capsule» anemitter : Emitter Etat 1 MyInfo info; pmsgreturn = porta. invoke(s 1 ); info=*(myinfo*) pmsgreturn.data; «protocol» infoproto incoming s 2 outgoing s 1 s 1 b :infoproto~ a :infoproto s 2 5 «capsule» areceiver : Receiver Etat 1 s1 / msg &reply(s 2, 5); Etat 2 Etat 2 " "!% $() *&& &&-/ 2 & &# "

36 Synthesis on current offers " Weak integration of object and real time $ Two very different models (e.g., ARTiSAN, UML/SDL) $ Behavior lies on operation and signal processing but with poor links to the usual object interface $ Focus is made more on signal than on operations that leads to behavior specification mixing up control action at object level and processing actions at operation level $ Output parameters often hard to manage " Poor facilities to express timing constraints $ Specification of timers or of priorities $ Implementation of real time constraints kept to the users $ Sometimes difficulties to map model constraints on RT-OS & model / task priorities with OS priority management policies

37 Larger market & New users & New needs " Customers want to specify good RT models # They want also to be able to prototype/develop the systems Prototype Specification The system must?? Customers Product Providers " Notations are not sufficient: method of use is required # Continuity and tracability of the model is mandatory # Availability of Model and application validation is critical

38 ACCORD/UML: introduction of real-time objects " # &1 % # >!%% " "$ & #? % # % $ $ # $%% $ &' 6 ",

39 ACCORD/UML: «task» model " ' % & $% $ & " ( - arealtimeobject Extern interface operation_1 operation_2... operations code Attributes

40 ACCORD/UML: «task» model " ' % & $% $ & " ( arealtimeobject Extern interface operation_1 operation_2... operations code Attributes Memory space

41 ACCORD/UML: «task» model " ' % & $% $ & " ( arealtimeobject Extern interface operation_1 operation_2... Message processing & attribute access control operations code Attributes Memory space

42 ACCORD/UML: «task» model " ' % & $% $ & " ( ()* - Signals arealtimeobject Operation calls Extern interface operation_1 operation_2... Message processing & attribute access control operations code Attributes Memory space Operation calls Signals

43 ACCORD/UML: communication with RTO ". # '6 #! / % $ $ $ #4 # $ / %) * % - $ # & & " / #

44 ACCORD/UML: two levels of state machines Of SpeedRegulator_Behavior stopregulating() / updatescreen( OFF ); TimeOut(Tc) startregulating() On / targetspeed = returnvalue; stopregulating() / updatescreen( OFF ); / spmeter -> getspeed(); WRF_WorldFIP S1 return (spmeter -> getspeed) / realspeed = returnvalue; / deltap = k1 * atan (targetspeed -realspeed); S2 [deltatorque >= 0] [deltatorque < 0] / brake ->setposition(deltap); / accelerator ->setposition(deltap); maintainend "

45 ACCORD/UML: two levels of state machines " 0 )0 / % $ " # &1 & 2 &1 OnOffReg / startregulating() startregulating() Stopped Running stopregulating() OnOffReg / stopregulating() [cusp<50] / stopregulating() maintain() / maintain() {RTF=p(500, ms)} start_stopregulating() # $ 5 &# Begin / display update(off);

46 ACCORD/UML: Real-Time implementation "! ' %0 # / $ $ #&# % &1! # /%% &% $ $ # * ''- $ *+, " / # &" # # &

47 ACCORD/UML: synthesis " A%$ %%!!&# # &&#/ " :&%#%% # "#& -! " B % $ " #%& # # % &!

48 Some open points " &%%6 " 9%&%% & %6 # + 2 % " 9$ # $%/ # +2&. # +2 ),& &! # +2 $) /, " ; )1& C

49 " "/6** $! "#$ $ $#"%&''' ( " 9 $ ) * $77/ :7;7"<78 " 0(+=>???$ $7788#28827>??? +,- $*./0 $ " $ $1234*55*'5 ***& & & *& && &* & " "'$ $778 8 " "/0(+#!$ 0(+#!$ $778%8 " 0(+/*+ *+- "!$ " 0(+/" /"!$ "!$ $778 8!$***&& ***&&