Model Based Development and Code Generation for Automotive Embedded Systems. April 26, 2017 Dr. Gergely Pintér, Dr. Máté Kovács thyssenkrupp Steering

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1 Model Based Development and Code Generation for Automotive Embedded Systems April 26, 2017 Dr. Gergely Pintér, Dr. Máté Kovács

2 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Summary Brief wrap-up of the discussion 2 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

3 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Summary Brief wrap-up of the discussion 3 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

4 Automotive Environment Power steering systems for high-end passenger cars thyssenkrupp produces Electronic Power Steering systems for premium car manufacturers, where efficient operation, outstanding steering experience and high performance are of paramount importance 4 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

5 Automotive Environment Embedded computing resources 5 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

6 Automotive Environment Embedded computing resources Steering Wheel User interface of the steering system Steering Column Torque measurement Input of steering system ECU with Electromotor Steering support Output of steering system 6 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

7 Automotive Environment Embedded computing resources 7 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

8 Automotive Environment Embedded computing resources 8 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

9 Automotive Environment Embedded computing resources 9 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

10 Automotive Environment Embedded computing resources 32-bit dual core automotive grade, safety qualified microcontroller, executing a sophisticated steering application on a hard real time operating system. 10 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

11 Automotive Environment Embedded software 11 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

12 Automotive Environment Embedded software Software of a sophisticated steering system is huge Over 150 software components 20% of them is automatically generated Over 20 basic software modules Nontrivial configuration code automatically generated from communication model Need to integrate 3rd party code (e.g., components provided by the OEM) around 500k lines of highly optimized safety critical code (MISRA-compliant C and assembly) Process, safety and robustness requirements: Automotive SPICE ISO compliance (ASIL-D) Strong modeling foundations and code generation are inevitable for reaching quality and time to market goals 12 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

13 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Summary Brief wrap-up of the discussion 13 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

14 AUTOSAR Standard Actually a family of standards AUTOSAR is a family of standards Component oriented modeling language Like UML mapped to specialties of the automotive domain Rich basic software library Like standard C library developed for automotive applications Proposal for development method, standardized application interfaces, etc. Way for organizing development and integration activities into a process AUTOSAR Modeling Language Basic Software Methodology, Conformance 14 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

15 AUTOSAR Standard A sophisticated modeling language for the automotive domain Modeling language Components, ports, type-safe interfaces Internal behavior, executable entities mapped to OS tasks Distributed deployment to any number of ECUs in the vehicle Well-defined metamodel and XML-based persistence rules Basic software stack Communication, diagnostic functions, memory management and a real-time operating system Well-defined configuration metamodel and XML-based persistence rules AUTOSAR models in XML files are now the common language between OEMs and suppliers 15 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

16 Libraries AUTOSAR Standard Layered organization of automotive software Application Layer Runtime Environment (RTE) Base Software Microcontroller Hardware 16 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

17 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Summary Brief wrap-up of the discussion 17 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

18 Command processor Script interpreter RTE Cplx. SWCs BSW 1 Conf. BSW 2 Conf. MCAL 1 Conf. MCAL 2 Conf. Custom code generators AUTOSAR Architect Key features AUTOSAR Architect Requirement editor Form editors (SWC) Test suite editor Model browser Rich editors (SWC) Configuration editor Wizards Diagram editors Importers and exporters Xtend support JET + Velocity support 3 rd party template support Graphical user interface Automation Code generation Variant handling Requirement metamodel AUTOSAR SWC metamodel AUTOSAR BSW metamodel Diagram metamodel Test suite metamodel Consistency checking Model management Persistence 18 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

19 Command processor Script interpreter RTE Cplx. SWCs BSW 1 Conf. BSW 2 Conf. MCAL 1 Conf. MCAL 2 Conf. Custom code generators AUTOSAR Architect Key features AUTOSAR Architect Requirement editor Form editors (SWC) Test suite editor Model browser Rich editors (SWC) Configuration editor Wizards Diagram editors Importers and exporters Xtend support JET + Velocity support 3 rd party template support Requirement metamodel Graphical user interface Persistence Automation Responsible for reading and writing XML files storing Variant models handling and (ARXML) Key challenges: files of several AUTOSAR SWC 100MB, AUTOSAR support BSW for various Diagram schema metamodel versions metamodel metamodel Key technologies: XML, EMF Model management Test suite metamodel Code generation Consistency checking Persistence 19 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

20 Command processor Script interpreter RTE Cplx. SWCs BSW 1 Conf. BSW 2 Conf. MCAL 1 Conf. MCAL 2 Conf. Custom code generators AUTOSAR Architect Key features AUTOSAR Architect Requirement editor Model browser Wizards Form editors (SWC) Rich editors (SWC) Diagram editors Graphical user interface Test suite editor Configuration editor Importers and exporters Model management In-memory representation of requirements, models, configurations, diagrams, test specifications, etc. Provides instant feedback about modeling errors by continuous model consistency checking Metamodels of software components and basic software configuration Xtend are standard, JET others + 3are rd party defined by thyssenkrupp support Velocity template Key challenges: huge models, several support millions support of objects, rich interconnection structure, large number of Automation consistency rules Code generation Key technologies: EMF, IncQuery Variant handling Requirement metamodel AUTOSAR SWC metamodel AUTOSAR BSW metamodel Diagram metamodel Test suite metamodel Consistency checking Model management Persistence 20 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

21 Command processor Script interpreter RTE Cplx. SWCs BSW 1 Conf. BSW 2 Conf. MCAL 1 Conf. MCAL 2 Conf. Custom code generators AUTOSAR Architect Key features AUTOSAR Architect Requirement editor Form editors (SWC) Test suite editor Model browser Rich editors (SWC) Configuration editor Wizards Diagram editors Importers and exporters Xtend support JET + Velocity support 3 rd party template support Graphical user interface Automation Code generation Requirement metamodel AUTOSAR SWC metamodel Graphical user Variant interface handling Visual representation of requirements, models and configurations AUTOSAR Basic editing BSW on forms Diagram Test suite Consistency metamodel metamodel metamodel checking Rich editors for complex entities (e.g., internal behavior models Model of management components) Visualization of components externals and internal structure Wizards Persistence and import-export facilities for straightforward interaction with non-autosar inputs (e.g., CANDB) Key challenges: performance, maintaining consistency between model space and any number of editors Key technologies: JFace, Eclipse Forms, Graphiti 21 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

22 Command processor Script interpreter RTE Cplx. SWCs BSW 1 Conf. BSW 2 Conf. MCAL 1 Conf. MCAL 2 Conf. Custom code generators AUTOSAR Architect Key features AUTOSAR Architect Requirement editor Form editors (SWC) Test suite editor Model browser Rich editors (SWC) Configuration editor Wizards Diagram editors Importers and exporters Xtend support JET + Velocity support 3 rd party template support Graphical user interface Automation Code generation Automation Variant handling Enables running code generators without opening the graphical user interface Requirement Provides AUTOSAR a scripting SWC interface AUTOSAR for BSW metamodel performing metamodel frequently occurring metamodel tasks Key technologies: JavaScript Model management Diagram metamodel Test suite metamodel Consistency checking Persistence 22 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

23 Command processor Script interpreter RTE Cplx. SWCs BSW 1 Conf. BSW 2 Conf. MCAL 1 Conf. MCAL 2 Conf. Custom code generators AUTOSAR Architect Key features AUTOSAR Architect Requirement editor Form editors (SWC) Test suite editor Model browser Rich editors (SWC) Configuration editor Wizards Diagram editors Importers and exporters Xtend support JET + Velocity support 3 rd party template support Graphical user interface Automation Code generation Requirement metamodel Code generation Variant handling Significantly increases productivity by replacing error prone manual implementation by automatic code generation AUTOSAR RTE: SWC safety AUTOSAR critical glue BSW code connecting Diagram components Test to suite each metamodel other and the metamodel basic software stack metamodel (data transfer, mutual metamodel exclusion, etc.) Model management Basic software configuration: CAN / FlexRay configuration, non-volatile memory layout, diagnostic services, network Persistence management, resources of the operating system Custom software component generation Key challenges: performance, safety relevance Key technologies: Xtend, JET, Velocity 23 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács Consistency checking

24 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Summary Brief wrap-up of the discussion 25 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

25 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Basic modeling features Code generation: synthesis of a basic software module s configuration code Model to model transformation: synthesis of a software component Summary Brief wrap-up of the discussion 26 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

26 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Basic modeling features Code generation: synthesis of a basic software module s configuration code Model to model transformation: synthesis of a software component Summary Brief wrap-up of the discussion 27 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

27 AUTOSAR Architect in Action Layout of the tool 28 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

28 AUTOSAR Architect in Action Eclipse Forms editors 29 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

29 AUTOSAR Architect in Action A diagram implemented in Graphiti 30 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

30 AUTOSAR Architect in Action The Model Navigator Model structure visualized by EMF Containment Tree 31 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

31 AUTOSAR Architect in Action Data binding Seamless synchronization of two views over the same model element ensured by EMF data binding 32 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

32 AUTOSAR Architect in Action Composition diagram Complex component structures visualized on Graphiti-based structure diagrams 33 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

33 AUTOSAR Architect in Action Checking the consistency of models Instantaneous feedback about modeling problems provided by the VIATRA engine 34 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

34 AUTOSAR Architect in Action Summary about modeling support Message: sophisticated modeling tools are essential for ruling complexity of automotive software models 35 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

35 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Basic modeling features Code generation: synthesis of a basic software module s configuration code Model to model transformation: synthesis of a software component Summary Brief wrap-up of the discussion 36 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

36 AUTOSAR Architect in Action Code generation We would like to generate configuration code of the Communication (COM) module 37 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

37 AUTOSAR Architect in Action Code generation Configuration of the Communication module specifies list and internal structure of PDUs, PDU groups etc. 38 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

38 AUTOSAR Architect in Action Code generation Having prepared the configuration we need to set up a run configuration for the code generator 39 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

39 AUTOSAR Architect in Action Code generation All module configurations are listed here that are referred by the ECU Configuration Value Collection instance 40 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

40 AUTOSAR Architect in Action Code generation Generated configuration code of the Communication module is around kloc of ANSI-C code, primarily with initialized constant structures 41 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

41 AUTOSAR Architect in Action Code generation and executable code which implements packing / unpacking user data to / from frames of the underlying automotive communication bus 42 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

42 AUTOSAR Architect in Action Code generation Message: code generation dramatically increases productivity and code quality 43 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

43 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Basic modeling features Code generation: synthesis of a basic software module s configuration code Model to model transformation: synthesis of a software component Summary Brief wrap-up of the discussion 44 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

44 AUTOSAR Architect in Action Automatic Model Transformation For safety relevant data we have to apply and check end-to-end data protection which is implemented in software components (called communication wrappers); most of the model and code of these components can be generated thus we instruct the tool to automatically construct a software component 45 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

45 AUTOSAR Architect in Action Automatic Model Transformation We can automatically synthesize model of data types and interfaces based on the information available in the communication model 46 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

46 AUTOSAR Architect in Action Automatic Model Transformation AUTOSAR model of communication wrapper components (including interfaces, ports, data access etc.) 47 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

47 AUTOSAR Architect in Action Automatic Model Transformation and finally source code of these components which implement end-to-end protection (4-5kLoc in case of typical projects) 48 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

48 AUTOSAR Architect in Action Automatic Model Transformation Message: transformation reduces time necessary for maintaining systematically constructible models 49 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

49 Agenda Model Based Development and Code Generation for Automotive Embedded Systems Automotive Environment Why do we need sophisticated modeling and code generation tools? AUTOSAR Standard Brief overview on the modeling language ThyssenKrupp s AUTOSAR Authoring Tool Which are the main features and technologies used in our own modeling environment? Working with Models Editing, automatic model transformation and code generation Summary Brief wrap-up of the discussion 50 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács

50 Summary Automotive application domain implies serious design quality requirements Addressed by building steering software on AUTOSAR standard In-house developed authoring tool: AUTOSAR Architect Supporting all activities of Model Driven Development Built on various state of the art Eclipse technologies 51 April 26, 2017 Model Based Development and Code Generation for Automotive Embedded Systems Gergely Pintér, Máté Kovács