The Montana Toolset: OSATE Plugins for Analysis and Code Generation

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1 Fremont Associates Process Project QA The Montana Toolset: OSATE Plugins for Analysis and Code Generation Oleg Sokolsky University of Pennsylvania AADL Workshop 005 Paris, France October 17-18, 18, 005

2 Outline Goals Goals of the project Overview Overview of the Montana toolset Schedulability analysis Charon annex and code generation Where Where do we go from here? AADL Workshop 005

3 Goals of the project Tool Tool support for AADL Important for acceptance of the language Modeling Modeling and analysis technologies for real- time and hybrid systems Behavior in the architectural context developed over a number of years limited use because of unfamiliar formalisms AFOSR AFOSR STTR Fremont Associates AADL Workshop 005

4 Outline Goals Goals of the project Overview Overview of the Montana toolset Schedulability analysis Charon annex and code generation Where Where do we go from here? AADL Workshop 005

5 Formalism for Real-Time Systems ACSR: ACSR: Algebra of Communicating Shared Resources Resource-sensitive sensitive specification Timing constraints Analysis Analysis of timing properties Schedulability analysis of arbitrary task models Multiple processors and resources, task dependencies, etc. Analysis Analysis of safety properties AADL Workshop 005

6 VERSA Implements ACSR semantics State-space exploration, deadlock detection, Diagnostics: failing scenarios AADL Workshop 005

7 ACSR Modeling Principles Threads Threads are modeled as state machines Operators for timeout, preemption Timed and instantaneous steps Timed steps access resources Concurrency model Exclusive resource access Hand-shake synchronization {bus} { } success! AADL Workshop 005

8 Timing and resource analysis Resource Resource conflict as deadlock { bus } A 1 A { cpu } { cpu } 1 { cpu } { cpu } B B { bus } {bus,cpu} {bus,cpu} A1 A1 B1 B Allows Allows us to encode task models, scheduling policies, inter-task task dependencies, etc. AADL Workshop 005

9 Translating AADL to ACSR Threads Threads are modeled as ACSR processes Based on thread semantic automaton Processors and access connections are modeled as resources Event Event and data connections are modeled as communication channels AADL Workshop 005

10 Example: Cruise Control Standard Standard example (from OSATE release) + auxiliary processes for bookkeeping AADL Workshop 005

11 Example: Cruise Control Processor and connection bindings => resources Scheduling protocol determines priorities Periodic processes have activators Scheduling_Protocol => EDF Dispatch_Protocol => periodic AADL Workshop 005

12 VERSA Plugin for OSATE AADL Workshop 005

13 VERSA Plugin: : Current Status AADL AADL to ACSR translation is defined for most of AADL: Periodic, aperiodic,, and sporadic threads, event and data event connections, server subroutines, mode switches, Implementation supports a subset of AADL: Periodic threads RMS or EDF schedulers AADL Workshop 005

14 Outline Goals Goals of the project Overview Overview of the Montana toolset Schedulability analysis Charon annex and code generation Where Where do we go from here? AADL Workshop 005

15 Hybrid Automata Continuous dynamics: restricted DAE Differential equation x = -x Algebraic equation y = sin(x) Invariant x >= -10 Discrete control: Finite State Machine State: dynamics x = 1, x = -1, x = x,, x = -x,, Transition: switching of dynamics x = 1 (x > 10) > > x = -1 AADL Workshop 005

16 Syntax: Modes and Agents t=10 local t, rate {t = 1} global level, infusion { level [,10] } Compute e dx x de t:=0 de level [4,8] dx level [,10] Emergency level infusion global level global infusion {level = f(infusion)} Maintain {t<10} dx de Normal Agent Controller Agent Tank Modes describe sequential behavior Agents describe concurrency AADL Workshop 005

17 Charon toolset Modeling/type checking Reachability analysis Simulation Code Code generation AADL Workshop 005

18 Case Study: Architectural Model Input touch sensors Output desired angles of each joint Components Brain: control four legs Four legs: control servo motors Instantiated from the same pattern AADL Workshop 005

19 Case Study: Behavioral Model Control objective v = c High-level control laws x& = v x stride / y & = kv L1 v j1 x y& = kv x& x = kv stride / L j y (x, y) Low-level control laws j 1 x = arctan( x / y) arccos( + y L 1 + L x 1 + y L ) j x = arccos( + y + L L L 1 1 L ) AADL Workshop 005

20 AADL Annex for Hybrid Systems GoalGoal Develop a comprehensive framework for formal specification of hybrid systems in both architectural and behavioral aspects Architectural specification: AADL Continuous behavior specification: HS formalism via AADL annex Integrate existing tools for model composition, analysis, simulation, and code generation in a unified environment AADL Workshop 005

21 AADL HS Annex: CHARON Thread components may have an annex for hybrid systems description written in CHARON. CHARON annex can reference port names declared in the AADL model to define continuous flow over them. Sub-modes declared in the annex library can be shared by different thread components. thread leg_control features joints: port group LegJointsIn; coords: port group PointsPos Out; end leg_control; thread implementation leg_control.charon annex Charon {** mode getup = leg_movexy( ); mode walk = leg_movephase( ); trans from getup.e to walk do { } **} end leg_control.charon; annex Charon {** mode leg_movexy( ) { } **} AADL Workshop 005

22 Example: Four-legged Robot - Control objective v = c - High-level control law x& = v x stride / y& = kv L v L1 j1 j (x, y) y x Process Thread Group y & = kv x& = kv x stride / Annex Charon Thread - Low-level control law x j = arctan( x/ y) arccos( j 1 x = arccos( + y + L1 L L 1 L + y L ) 1 + L x 1 L + y ) Annex Charon Thread AADL Workshop 005

23 CHARON Plugin: : Current Status Syntax Syntax and type check for the CHARON annex Eclipse-style style diagnostics in the AADL model Conversion to a CHARON model for simulation, analysis, and code generation Analysis tools have to be started manually AADL Workshop 005

24 Outline Goals Goals of the project Overview Overview of the Montana toolset Schedulability analysis Charon annex and code generation Where Where do we go from here? AADL Workshop 005

25 CHARON Plugin: : Future Work Refined Refined AADL annex definition Based on COTRE state machine annex? Tighter Tighter integration with analysis tools Automatic invocation AADL-level diagnostics Code Code generation based on target platform specification in the AADL model Period, scheduler, processor type, memory binding, etc. AADL Workshop 005

26 VERSA Plugin: : Future Work Complete the translation Interface Interface with a better state space exploration engine Better Better user interface Visual representation of failing scenarios Interactive simulation Replay of scenarios AADL Workshop 005

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