Experience Report on Implementing and Applying a Standard Real- Time Embedded Component Platform Gregory Haik gregory.haik [at] fr.thalesgroup.
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1 Experience Report on Implementing and Applying a Standard Real- Time Embedded Component Platform Gregory Haik gregory.haik [at] fr.thalesgroup.com V. Watine, V. Seignole, O. Hachet, J.-L. Gilbert, H. Balp THALES, France
2 1! Who Are We?! Motivations! Approach! Use cases! FM3TR Software-defined Radio! French & European Research Outlook! Validation & Verification! Dynamic Reconfiguration! Flexible Scheduling! Standardisation Issues Outline
3 Who Are We?! Zoom out: Thales Group! Electronics and optronics equipment vendor, and system integrator! Addresses defense and security markets " Military telco, Aerospace, Naval, ATM & Air Defense, Homeland Security, e-gov t! Sales: 12 billion! employees in +50 countries, mostly France & UK! Zoom in: SC2 Lab! Part of Land & Joint Division (radio-communications, optronics, C4I)! In charge of Research & Technology activities on middleware " R&T on component frameworks for RTE systems " R&T on interoperability and integration of complex systems (SoS)! Promotes R&T results in company s programs! 25 people 2
4 3! Who Are We?! Motivations! Approach! Use cases! FM3TR Software-defined Radio! French & European Research Outlook! Validation & Verification! Dynamic Reconfiguration! Flexible Scheduling! Standardisation Issues Outline
5 Software Engineering of RTE Systems Development of Real Time Embedded (RTE) systems suffers from the same productivity problems than large-scale information systems, such as:! Platform heterogeneity! Difficult testability! Complex internal communication and interaction schemes! Difficult configurability plus many others!! Timing issues! Certification/assurance issues: safety-critical, mission-critical, securitycritical! Memory footprint! Domain heterogeneity: telecommunications, avionics, vetronics, robotics Software Engineering solutions for information systems must be adapted and extended to address RTE systems development 4
6 5! Who Are We?! Motivations! Approach! Use cases! FM3TR Software-defined Radio! French & European Research Outlook! Validation & Verification! Dynamic Reconfiguration! Flexible Scheduling! Standardisation Issues Outline
7 Adaptation of Component-based Development! Addressed by IST- and ITEA- Projects! EJB, CCM target Information Systems and address:! Code reuse; Interoperability; Automatic deployment and configuration! Non-functional needs of Information systems are! Communication support! Security! Persistency! Transactions! RTE systems : no such list be a priori devised! OMG Lightweight CCM specification defines empty component enveloppes no security, no persistency! Up to the framework provider to tailor enveloppes to a particular domain! Still, it requires a fine requirement analysis of domain product line application 6
8 From Requirement Analysis to Runtime Requirements analysis Functional characteristics Non-functional characteristics Design / implementation System break-down -interfaces - interactions properties Component identification (selection/creation) Placing components properties Mechanisms selection (known applicable patterns) uses Component assemblies identification Deployment Component assemblies Component places Container services 7
9 Architecture of MyCCM Component Framework Tailoring enveloppes while minimizing memory footprint calls for a modular architecture of the component framework itself. Packaging & Assembly Components Component Descriptors (IDL3 & XML) Implementation (binaries) Containers Deployment & Configuration Descriptors (XML) Administration Predefined Components Technical Service Containers Infrastructure Technical Service Execution Platform Application Components Technical Service The extra benefits of this approach (beyond those of CBD) are : # The ability to plug-in only what is strictly necessary Component Descriptors (IDL3 & XML) Container Generation Tool Container runtime & services connectors # The ability to adapt to various domains or product lines or even applications 8
10 MyCCM Approach to Real Time 9 periodic one_shot Component1 Component2 node1 dyn Component3 node2 MyCCM enables the configuration of real-time scheduling parameters to: dyn! Define an activation model based on periodic and one shot functional threads! Set the scheduling parameters of communication threads handling the component interaction mechanisms sta Functionnal threads Communication threads
11 10! Who Are We?! Motivations! Approach! Use cases! FM3TR Software-defined Radio! French & European Research Outlook! Validation & Verification! Dynamic Reconfiguration! Flexible Scheduling! Standardisation Issues Outline
12 11 Breakdown of FM3TR Waveform componentised modem
13 SdR Use case HW/SW Platform BB/NB Board BB/NB Board DSP 12 HPI link GPP microccm No ORB OSEck microccm e*orb VxWorks PC microccm Intermediate Frequency OpenSource ORB (mico) BB/NB Board BB/NB Board serial port PC GPP e*orb VxWorks DSP ethernet microccm ethernet LINUX serial port audio board HPI link microccm No ORB OSEck PC microccm OpenSource ORB (mico) LINUX serial port audio board serial port PC
14 13 SdR Use Case Deployment
15 14! Who Are We?! Motivations! Approach! Use cases! FM3TR Software-defined Radio! French & European Research Outlook! Validation & Verification! Dynamic Reconfiguration! Flexible Scheduling! Standardisation Issues Outline
16 Benefits for Software Architect 15 MyCCM improves RTE software development productivity! Intensive code generation! Abstraction and generation of internal communication protocols! Generation of deployment code! Generation of threading artefacts! Integration with modelling tools! Improving communication between team members! Facilitating verification (yet a promise)! Ease of testing! Functional validation on host platform! Late binding to the target platform! Reduced integration risk
17 16! Who Are We?! Motivations! Approach! Use cases! FM3TR Software-defined Radio! French & European Research Outlook! Validation & Verification! Dynamic Reconfiguration! Flexible Scheduling! Standardisation Issues Outline
18 Verification and Validation To address hard real-time critical systems development, the framework must come with means to check that the deployed architecture will meet its timing requirements. As a first step towards component-based architecture verification and validation, schedulability analysis should be performed:! This requires the framework user to provide a characterisation of the temporal properties of each component.! Combining this information with the activation model and corresponding communication threads, end-to-end execution times can finally be estimated.! Transcribing this information in a tool like MAST, temporal analysis may be performed. Many other requirements may be verified 17
19 ITEA - SPICES Project Big Picture 18 AADL Modelling of Component-based Architecture PowerPC 860 Application Components Packages RamBus Lightweight CCM descriptors Verification Techniques! Schedulability, energy, memory analysis! MAST, Cheddar! Model Checking! BIP, TINA, CPNTool! Simulation! SystemC, MyCCM, Ades! Middleware code generation and verification! PolyORB-HI, Occarina Administration Application Components Technical Service Containers Infrastructure Technical Service Pre-defined Components Technical Service Execution Platform for General-Purpose Processors, DSP and FGPGA Running System
20 19! Who Are We?! Motivations! Approach! Use cases! FM3TR Software-defined Radio! French & European Research Outlook! Validation & Verification! Dynamic Reconfiguration! Flexible Scheduling! Standardisation Issues Outline
21 Flexibility: Dynamic Reconfiguration! Increased adaptability of RTE applications! Bug correction,! Power limitations,! User requests! Fault tolerance! Means evolvability of the system architecture! Functionality removal! Component migrations, deletion, replacement. C1 C2 Enveloppe Enveloppe ORB ORB OS/HW Environment System! Direction! Generative reconfiguration language! Analysis of reconfiguration policies for validation purposes! Addressed by Paris Region-funded project Usine Logicielle 20
22 21! Who Are We?! Motivations! Approach! Use cases! FM3TR Software-defined Radio! French & European Research Outlook! Validation & Verification! Dynamic Reconfiguration! Flexible Scheduling! Standardisation Issues Outline
23 Flexibility: Dynamic Scheduling! Beyond fixed priority scheduling, àlaposix! Typically valuable for processing sound/video! Use case is a UMTS protocol stack! Applicability criteria! Hard real time, i.e. overrun is a fault BUT! Not safety- nor mission- nor security-critical! What is critical is resource usage optimization! WCET >> Average Execution Time " Schedulability Analysis is too pessimistic! Proposed Solution (Univ. Cantabria, Univ. York)! Dynamic allocation of resources to processing tasks! Components come with a range of implementations " Fast computation, low quality " Slow computation, high quality! Addressed by EU-funded FRESCOR Project 22
24 23! Who Are We?! Motivations! Approach! Use cases! FM3TR Software-defined Radio! French & European Research Outlook! Validation & Verification! Dynamic Reconfiguration! Flexible Scheduling! Standardisation Issues Outline
25 Standardisation Issues! Lightweight CCM std has limitations! No definition of insertion contracts for technical services! Interaction models are restricted to " Facet and receptacles (RPC) " Push-Push events! Deployment and Configuration std needs adaptation for RTE! Multi-domain, multi-application deployment should be optional! Semi and fully static deployment should be considered! Ongoing standardisation activities! QoS for CCM addresses insertion & config of technical services! DDS for CCM addresses extensions of interaction models! Nothing directly targeting D&C spec! Major conformance points! Source-level conformance of components with CIF " Enables re-use of components in various deployment contexts! Conformance of descriptors to XML schemas of D&C std " Provides stability to modelling tools! Standards are a starting point for further adaptation 24
26 Concluding Remarks 25! MyCCM is beyond the proof-of-concept! Foundations of SW development for FREMM s IRST! Many research activities presently conducted! V&V, dynamic reconfiguration, flexible scheduling! But also: FPGA, ARINC 653, MILS! Standardisation activities should go on! Relevance of LwCCM is maximum when leveraging architectural descriptions! RT/E systems with stringent time/memory/energy constraints " Careful mapping of SW architecture to HW platform " Fine-tuning deployment and configuration at integration time! Reasonably small amount of SW components! Performing early V&V on architectural models! Otherwise DDS might be more relevant " More straightforward, less architecture burden " Still good opportunities for code re-use
27 MyCCM Supported Platforms Multiple targets D&C profiles Multiple languages fully-static semi-static dynamic ISO-C++ E-C++ Ansi C Footprint versus Dynamicity Tradeoffs Availability of the three IDL mappings Local seamless cohabitation of languages GPP DSP Micro controllers Technical services X86, Linux, e*orb C++ / e*orb C X86, Linux, mico, TAO MPC860, VxWorks, OrbExpress MPC860, VxWorks, e*orb C++ generic, VxWorks, Orbless C5510, OSE-ck, Orbless (C) C5510, OSE-ck, e*orb C C5510, DSP/Bios, Orbless (C) ARM7, OSEK (auto RTOS), EC++ ColdFire, OSE-epsilon (C) Reusable services and connectors - messaging code generation - real-time CORBA integration - real-time trace - performance measurement - RT locking mechanisms 26
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