Design and Use of CSP Meta-Model for Embedded Control Software - PowerPoint PPT Presentation

Design and Use of CSP Meta-Model for Embedded Control Software Development Communicating Process Architectures 2012 Maarten Bezemer, Robert Wilterdink and Jan Broenink Robotics and Mechatronics, University of Twente, The Netherlands

Outline  Introduction  CSP Meta-Model  Use Case  Example  Conclusions and Future Work Demo afterwards! CSP Meta-Model for Embedded Control Software Development 2

Introduction - Context  Model-Driven Design tools help with development of complex software  CSP helps with development of concurrent software  The combination helps with complex concurrent software  Eg embedded control software for large(r) robots CSP Meta-Model for Embedded Control Software Development 3

Introduction - Meta-Models  Constituting elements of models is required  Multiple tools (of a tool suite) need knowledge of the models  Interchangeable models within a community  A meta-model describes the format of a model  A meta-meta-model describes the format of a meta-model  etc.  Models that conform to a meta-model use format that is known on before-hand  No existing CSP meta-model available with a focus on graphical modelling CSP Meta-Model for Embedded Control Software Development 4

Base Meta-Model  Modular design  Base Meta-Model  Component-Port-Connector (CPC) implementation BaseObject IBaseContainerObject BaseRelation relatedObjects name objects 2..* * parent 1 ... <<derived>> BaseDiagram BaseLink BasePort BaseModel ports link sub-model parent 2 1 0..1 0..1 container ... links 1 *  Usable for multiple types of models  Graph based models  Communication based interfaces to external tools  Basically any model having 'communicating' objects CSP Meta-Model for Embedded Control Software Development 5

CSP Meta-Model  Base Meta-Model + CSP constructs Base Meta-Model CSP Meta-Model CSPReader CSPWriter CSPProcess CSPPortVariableProcess port variable CSPCompositionalObject BaseObject 0..* relations name ... CSPCompositionalGroup groupedRelations 1..* CSPCompositionalRelation compositionalObjects 2 BaseRelation group 0..1 type relatedObjects 2..* <<derived>> BaseLink CSPChannel ports bufferSize CSP Meta-Model for Embedded Control Software Development 6

CSP Meta-Model details Base Meta-Model CSP Meta-Model CSPReader CSPWriter  Strict border between Base and CSP Meta-Models CSPProcess CSPPortVariableProcess port variable  Convenient for tools/editors BaseObject CSPCompositionalObject 0..* relations name ... CSPCompositionalGroup  All CSP objects/processes are groupedRelations 1..* based on same CSP base object CSPCompositionalRelation compositionalObjects 2 BaseRelation group  Even groups 0..1 type relatedObjects 2..* <<derived>> BaseLink CSPChannel ports bufferSize  BaseRelation defines ANY relation  Used to define compositional relations  BaseLink defines a communicational relation  Used to define communication channels CSP Meta-Model for Embedded Control Software Development 7

Use Case - TERRA  Twente Embedded Real-time Robotic Application CSP FDR CSP CT meta-model meta-model meta-model (1.1.2) conforms to based on based on conforms to conforms to M2M (3.2) Co-simulation CSP CSPm CT engine model model model (3.3) DE verification Simulation / CT verification M2T (3.1) C++ code  Eclipse based tool suite +  CSP Editor LUNA  Model validation frame- work  Model transformation Realisation  CSP/FDR → Formal verification of model  C++/LUNA → Towards on target execution of model CSP Meta-Model for Embedded Control Software Development 8

Use Case – CSP Editor v SYSTEM * CONTROLLER PAN SAFETY IO TILT ! period  Graphical representation similar to gCSP  More compact models, due to some changes CSP Meta-Model for Embedded Control Software Development 9

Use Case – Model Validation  Validation in editor  Rules are defined by Meta-Model 'What to fill in where'  Addition rules for transformations  Keeps models compliant for model transformation  Compatible with specific target transformation rules  Object names must be correct and unique (CSP and C++ LUNA)  Sub-models must be defined (CSP) c o n t e x t C S P P r o c e s s { e l { c r i t i q u e h a s S u b m o d " C S P " r d : C o d e G e n D e s c r i p t i o n . i s U n d e f i n e d ( ) o r C o d e G e n D e s c r i p t i o n = = g u a c h e c k : s e l f . s u b m o d e l . i s D e f i n e d ( ) " + s e l f . n a m e + " d o e s n o t m e s s a g e : " C S P c o d e g e n e r a t i o n w i l l f a i l : h a v e a s u b - m o d e l s e t " } } CSP Meta-Model for Embedded Control Software Development 10

Use Case – Model transformation  Possible to use external expert tools  FDR for formal verification of the models  No need to reinvent these external tools!  Put the models to actual use  C++/LUNA code generation to execute model on target  Prevent errors due to manual conversion of correct models (The demo afterwards will show actual examples) CSP Meta-Model for Embedded Control Software Development 11

Use Case – Model transformation  Representation of model in CSP (FDR) CSPm Meta-model representation Additional Attributes p = ... CSPProcess CSPCompositionalGroup groupedRelations : relations that are grouped channel c CSPChannel ports : two connected ports / processes datatype <type> CSPVariableDescription name : name of the variable = <name> type : boolean, integer... c ! <var> CSPWriter variable contains data link : channel to write to / read from c ? <var> CSPReader p ; q CSPCompositionRelation type = SEQ or PAR or ALT p || q CSPCompositionRelation compositionalObject : the two related objects p [] q CSPCompositionRelation if-statement CSPRecursionProperty expression : true when another loop is required CSP Meta-Model for Embedded Control Software Development 12

Example v APPLICATION * * THREAD1 THREAD2 LEGEND WRITERS READERS <name> Compositional Group ! ? ! Writer firstValue readValue <variable> Calculations1 Calculations2 ? Guarded Reader ! ? <variable> * Recursion secondValue readValue v Variable definition  Corresponding CSP (FDR) code available in paper  Real-life examples  JIWY and Production Cell available (JIWY will be showed in the demo afterwards) CSP Meta-Model for Embedded Control Software Development 13

Conclusions  CSP Meta-Model usable to store CSP related models  TERRA tool suite makes use of CSP Meta-Models  Editors  Validation  Transformations to plain text  Actual suitable for Embedded Control Software Development  JIWY and Production Cell models are designed  Used by students for their assignments CSP Meta-Model for Embedded Control Software Development 14

Future Work  Better integration between external modelling tools and TERRA  20-sim suitable for physics modelling  Directly integrate 20-sim models as CSP sub-models  Building blocks  Provide standard Control Software functionality  Generic Architecture Component as a template/skeleton block  Simulation and co-simulation capabilities  Better understand of models  Able to test a control model using a dynamics model of the plant CSP Meta-Model for Embedded Control Software Development 15

“Hopefully a standard meta-model will emerge that is suitable for the needs of the community and helping to improve interaction between multiple disciplinaries within the community.”  Standard storage format  Interchangeable with the tools developed within our community  Tighter cooperation! CSP Meta-Model for Embedded Control Software Development 16

CSP Meta-Model for Embedded Control Software Development 17