Tailoring the MontiArcAutomaton Component & Connector ADL for Generative Development

Transcription

1 Tailoring the MontiArcAutomaton Component & Connector L for Generative Development Joint MORSE/VAO Workshop on Model-Driven Robot and View-based Software-Engineering July 21, 2015 Ringert, Rumpe, Wortmann

2 Page 2 Agenda 1. Motivation and Preliminaries 2. Tailoring MontiArcAutomaton 3. Summary

3 Page 3 State of the Art C&C Ls [MT00] combine MDE and CBSE reduces conceptual gap [FR07] component models separate domain concerns enables translation into programming language artifacts C&C Ls successfully applied automotive: AutoFOCUS [BHS99] aviation: AL [FG12] robotics: RobotML [DKS+12], SmartSoft [SSL11] general: SysML [FMS14], xl [DHT01] Robotics very diverse and involves multiple domains various languages and paradigms (cf. RoboCup) different target platforms

4 Page 4 Motivation No single set of modeling features is sufficient for every project, hence extensibility is a key property of modeling notations [MDT07] Industry requires Ls tailored towards company needs [MLM+13] LeJOS operating system interfaced with Java parallel drives ROS operating system interfaced with Python front-mounted ultrasonic sensors L tool chain Goal: extensible L that enables R1: extension with domain-specific structural elements R2: experts to use the most-appropriate behavior DSLs R3: seamless transformation to platform-specific architectures R4: translation into programming language artifacts How to achieve this with structured tailoring?

5 Page 5 MontiArcAutomaton Modeling framework using a C&C L [RRW14TR] featuring atomic and composed component types with stable interfaces I/O ω automaton behavior DSL [RRW13AT] data type modeling using UML/P CDs [Sch12] Integrated modeling of component structure and behavior Employs language workbench MontiCore [KRV10] ExplorerBot Button emergency 3 Bool pressed ExplorationControl control Controller control 4 cmd Navigation navigation Translator trans 5 Motor left(100) 6 MAA atomic component types with embedded s scheduled first UltraSonic sensor 1 msg Logger sensorlog 2 Motor right(100) 7 Abstract component types model architecture extension points

6 Page 6 MontiArcAutomaton: the toolchain models application modelers MontiArcAutomaton L I/O ω M2M M2T generated comp. impl. impl. comp. impl. A A P P I I A P I run-time system run-time system developers model libraries behavior DSL code generator generated manual comp. impl. impl. A A P P I I A P I A P I A A P P I I environment: hardware, frameworks, UIs code libraries system system comp. comp. impl. impl. model library providers language engineers generator developers application programmers code library providers Roles derived from generic MDE processes [KRV06] Black-box integration of behavior DSLs [LNR+13] Transformation from logical to platform-specific architectures [RRW14MC] Application-specific composition of code generators [RRRW14]

7 Page 7 Tailoring in 3 Stages Stages ordered by dependencies act Tailor Framework [features sufficient] [requires extension] use provided language family extend language family [single target platform] develop PS architecture develop PI architecture [monolithic generator exists] [RRW14TR, RRW13AT, Sch12] select monolithic generator compose code generators [multiple [no target appropriate stage 1 platforms] stage 2 generator] stage 3 Stage 1 Stage 2 Stage 3 generate target code R1: domain-specific scheduling strategies R2: companyspecific activity diagram profile R3: single base software architecture R4: different operating systems and programming languages

8 Language Engineer Application Modeler Andreas Wortmann Page 8 Stage 1b: Extend the Language Family act Extend Language Family identify L requirements [L sufficient] identify behavior language reqs. [L insufficient] [languages missing] [languages insuficient] [languages suffice] extend L accordingly create behavior languages extend behavior languages accordingly integrate language family relies on MontiCore s language extension relies on MontiCore s language embedding and MontiArcAutomaton s extension point

9 Page 9 Stage 1b Result: A New Language Family MontiArcAutomaton- Language Family MAA L «inherits» I/O ω Automata «inherits» UML/P CD «overrides» Scheduling-L Activity Diagram Language Process models with scheduling information (R1) and s (R2) Allows parsing and well-formedness checking Code generation requires generator composition

10 Model Library Provider Impl. Library Provider Application Modeler Andreas Wortmann Page 10 Stage 2b: PIM to PSMs Architecture PIM with abstract components from model libraries act Develop Platform-Independent Architecture Model [platform bindings missing] identify required PI components model platformindependent architecture identify required PS implementations create application models [matching model libraries exist] [matching code libraries exist] [matching model libraries do not exist] [matching code libraries do not exist] [all platforms bound] create model library create implementation library PSM requires binding of Button, UltraSonic, Logger, Motor 4 component types 1 application model per target-platform

11 Page 11 State 2b Result: Architectures and Libraries [RRW4MC] ExplorerBot Button emergency UltraSonic sensor NXTExplorerBot BrickButton emergency ExplorationControl control Controller control Logger sensorlog ExplorationControl control Controller control Navigation navigation Translator trans Motor left(100) Motor right(100) transformed to (R3) Navigation navigation Translator trans ExplorerModels imports imports Button UltraSonic NXTImplementations Logger Motor realizes replaces abstract types Application Configuration NXTUltraSonic Sensor(PRT.A) LejosLogger sensorlog NXTMotor left(100,prt.1) NXTMotor right(100,prt.2) BrickButton NXTUltra- Sonic NXTMotor (int, Port) Lejos- Logger also contains data type PRT

12 Generator Developer Application Modeler Andreas Wortmann Page 12 Stage 3b: Code Generator Composition Generators either monolithic or composable act Compose Code Generators b identify comp. generator requirements select component generator identify behavior gen. requirements select behavior generators update application model [existing component generator sufficient] [existing behavior generators sufficient] [component generators insufficient] [behavior generators insufficient] create component generator create behavior generators Create component generator for components with scheduling Template-based: reuse [Sch12,RRW13AT] Create behavior generator for s

13 Page 13 Stage 3b Result: Application Configuration Application configuration model contains bindings (Stage 2b) and code generators (Stage 3b) SchedCom p2java CD2Java 2Java 01: 02: 03: 04: 05: 06: 07: 08: 09: 10: 11: 12: 13: 14: import NXTImplementations.*; ApplicationConfiguration application NXTExplorerApp for architecture.explorerbot { // Bindings defined in Stage 2b bind emergency to BrickButton; bind sensor to NXTUltraSonic(PRT.A); bind control.sensorlog to LejosLogger; bind navigation.left to NXTMotor(PRT.1); bind navigation.right to NXTMotor(PRT.2); // Generators selected in Stage 3b componentsjava.schedcomp2java; platform-specific cdjava.cd2java; arguments that would activitydiagramsjava.2java; tie architecture to } platform type PRT Validated prior to processing: valid bindings, proper generators MontiArcAutomaton transforms PIM to PSMs, composes generators, and generates code from PSM (R4)

14 Page 14 Generalizability Stage 1 relies on language inheritance and language embedding reproducible with modern language workbenches (cf. [ESV+13]) Stage 2 requires abstract components reproducible with C&C Ls: AL, SmartSoft, SysML, xl, additional PS model (application configuration) model transformation Stage 3 requires black-box composition of code generators employed mechanisms specific to C&C Ls Stages 1,2 easily reproducible with L frameworks; 3 more complex

15 Page 15 Conclusion Tailoring MAA enables extensibility and reuse causally ordered stages of alternatives well-defined options and roles Domain experts may use most-appropriate languages Separation of their concerns Multiple target platforms from single architecture Future work: validate extensions Take away messages: plan your L for extensibility (use capable language workbench) language inheritance and embedding work use it extensibility is a pervasive concern: framework support crucial

16 Page 16 Thank you MontiArcAutomaton Website: monticore.de/robotics

17 Page 17 Literature B-G [BHS99] Broy, M., Huber, F., & Schätz, B. (1999). AutoFOCUS -- Ein Werkzeugprototyp zur Entwicklung eingebetteter Systeme. Informatik-Forschung Und Entwicklung. [DHT01] Dashofy, E. M., der Hoek, A. Van, & Taylor, R. N. (2001). A Highly- Extensible, XML-Based Architecture Description Language. In WICSA 01: Proceedings of the Working IEEE/IFIP Conference on Software Architecture. [DKS+12] Dhouib, S., Kchir, S., Stinckwich, S., Ziadi, T., & Ziane, M. (2012). RobotML, a Domain-Specific Language to Design, Simulate and Deploy Robotic Applications. In Simulation, Modeling, and Programming for Autonomous Robots. Springer Berlin Heidelberg. [ESV+13] Erdweg, S., van der Storm, T., Völter, M., et. al. (2013). The State of the Art in Language Workbenches. In Software Language Engineering. [FG12] Feiler, P. H., & Gulch, D. P. (2012). Model-Based Engineering with AL: An Introduction to the SAE Architecture Analysis & Design Language. Addison-Wesley. [FMS14] Friedenthal, S., Moore, A., & Steiner, R. (2014). A practical guide to SysML: the systems modeling language. Morgan Kaufmann. [FR07] France, R., & Rumpe, B. (2007). Model-driven Development of Complex Software: A Research Roadmap. Future of (FOSE 07).

18 Page 18 Literature K-R [KRV06] Krahn, H., Rumpe, B., & Völkel, S. (2006). Roles in Software Development using Domain Specific Modeling Languages. In: Proceedings of the 6th OOPSLA Workshop on Domain-Specific Modeling (DSM' 06). [KRV10] Krahn, H., Rumpe, B., & Völkel, S. (2010). MontiCore: a framework for compositional development of domain specific languages. STTT. [LNR+13] Look, M., Navarro Perez, A., Ringert, J. O., Rumpe, B., & Wortmann, A. (2013). Black-box Integration of Heterogeneous Modeling Languages for Cyber- Physical Systems. In GEMOC workshop International Workshop on The Globalization of Modeling Languages. [MDT07] Medvidovic, N., Dashofy, E. M., & Taylor, R. N. (2007). Moving architectural description from under the technology lamppost. Information and Software Technology. [MLM+13] Malavolta, I., Lago, P., Muccini, H., Pelliccione, P., & Tang, A. (2013). What Industry Needs from Architectural Languages: A Survey. IEEE Transactions on. [MT00] Medvidovic, N., & Taylor, R. N. (2000). A Classification and Comparison Framework for Software Architecture Description Languages. IEEE Transactions on. [RRW13AT] Ringert, J. O., Rumpe, B., & Wortmann, A. (2013). From Software Architecture Structure and Behavior Modeling to Implementations of Cyber-Physical Systems. In 2013 Workshop Proceedings.

19 Page 19 Literature R-W [RRW13SDIR] Ringert, J. O., Rumpe, B., & Wortmann, A. (2013). MontiArcAutomaton : Modeling Architecture and Behavior of Robotic Systems. In Workshops and Tutorials Proceedings of the International Conference on Robotics and Automation (ICRA). [RRW14MC] Ringert, J. O., Rumpe, B., & Wortmann, A. (2014). Multi-Platform Generative Development of Component & Connector Systems using Model and Code Libraries. In 1st International Workshop on Model-Driven Engineering for Component-Based Systems (ModComp 2014) [RRRW14] Ringert, J. O., Roth, A., Rumpe, B., & Wortmann, A. (2014). Code Generator Composition for Model-Driven Engineering of Robotics Component & Connector Systems. In 1st International Workshop on Model-Driven Robot (MORSE 2014) [RRW14TR] Ringert, J. O., Rumpe, B., & Wortmann, A. (2014). Architecture and Behavior Modeling of Cyber-Physical Systems with MontiArcAutomaton. [Sch12] Schindler, M. (2012). Eine Werkzeuginfrastruktur zur agilen Entwicklung mit der UML/P. [SSL11] Schlegel, C., Steck, A., & Lotz, A. (2011). Model-Driven Software Development in Robotics : Communication Patterns as Key for a Robotics Component Model. In Introduction to Modern Robotics. iconcept Press. [WHR14] Whittle, J., Hutchinson, J., & Rouncefield, M. (2014). The State of Practice in Model-Driven Engineering. Software, IEEE. [Wil01] Wile, D. S. (2001). Supporting the DSL Spectrum. Computing and Information Technology.