T 50 avionics embedded software development using java

ISET 2011 - The 6th International Symposium on Embedded Technology (May 20-21, 2011)T-50 Avionics Embedded SoftwareDevelopment using Java Warning: This material may contain defense sensitive data, competitive and sensitive trade secret or technical information of KAI proprietary rights. The use (to provide, disclose, reproduce or copy to the third person/party) of this material without the prior approval of KAI is strictly prohibited in accordance with the related laws and regulations.

Overview• The Flagship Project − Core Software• Why Java? − C/C++ Experience in Other Projects • Pointer Problems − Java Pros and Cons • Real-time Java• Language Selection• Development − OFP Layers − Speed & Size Issues − Optimizations• Points to Ponder Korea Aerospace Industries Proprietary Information 2

The Flagship Project• Total systems development − Core software: FC, MFDS, IUFC, HUD, and SMS − Core avionics hardware: KMC, SMC − Test bench, and Mission support systemAvionics Embedded System Verification Software Development Test Bench Development- FC - System Integration Laboratory- MFDS - Software Development Station- IUFC by AMC- HUD by DoDaam Systems Operation & Maintenance RTOS Certification Ground Support System- NEOS by MDS Technology (DO-178B Level A Certifiable) - MPSS by KIDA Hardware Development- KMC by Intellics KMC: Korea Mission Computer- SMC by DoDaam Systems FC: Fire Control MFDS: Multi-Function Display Set HUD: Head Up Display MPSS: Mission Planning and Support System IUFC: Integrated Up Front Controls SMC: Stores Management Computer KIDA: Korea Institute for Defense Analysis SMS: Stores Management System Korea Aerospace Industries Proprietary Information 3

Core Software• Software (OFP) developed from scratch with enhanced capabilities compared to initial T-50 OFPs − 6 independent 5x7 MFD pages (3 for each seat) − Embedded Training functions Aerial Gunnary Target Simulation MFD: Multi-Function Display OFP: Operational Flight Program Korea Aerospace Industries Proprietary Information 4

Core Software• Central to Systems integration & mission operations Aircraft & Weapon Pilot Interface Specific Characteristics Static & Pilot Dynamic Control & Parameters Command Control Core Software Mission/Flight Commands Flight Mission & Stores Information Control Displays Mgmt Secondary, Tertiary Software Vehicle Nav. Aids Management Communication Targeting Avionic Systems Korea Aerospace Industries Proprietary Information 5

Why Java?• Avionics Needs An Empirical Study of Programming Language Trends, IEEE Software, 2005 30 − Safety (DO-178) 25 Java Percent of respondents C − Long lifecycle support 20 15 C++• Language Trends 10 Ada C++ 5 Ada − F-16: Jovial 0 Java C 1993 1998 2003 2008 − F-22: Ada Year − F-35: C++ TIOBE Programming Community Index, www.tiobe.com, 2011 − T-50: C/C++ 25 Java Percent search hits 20 Java C 15 C• Evolution of Java C++ C++ 10 − Real-time Java (JSR-1) 5 − Safety Critical Java (JSR-302) 0 2002 2005 2008 2011 Year JSR: Java Specification Request Korea Aerospace Industries Proprietary Information 6

C/C++ Experience in Other Projects• C/C++ demands high alertness and workload − Resource management : new/delete, open/close, lock/unlock • For C++, RAII helps but not without attention to copy constructors and copy assignment operators (The Rule of Three) − Exception handling: assert was used instead for debugging − Pointers: cannot live without but usually the culprit of most of the troubles − Many other do’s and don’ts• Lessons learned from prior projects including T-50 went into KUH − Coding guidelines became Coding Standards − Peer review prerequisites are enforced with automated tools • LDRA coding rule checking and PolySpace static verification KUH: Korea Utility Helicopter RAII: Resource Acquisition is Initialization Korea Aerospace Industries Proprietary Information 7

Pointer Problems• Problems such as an example shown below would easily be identified by a static analysis tool − An example of one of the problems • extract_data outputs an address of a data block to MESSAGE_DATA • sidd_write_link uses MESSAGE_DATA to transmit the data block // doubleTrouble.c typedef void* Data_Pointer_Type; Would read better if named: Data_Pointer_Type MESSAGE_DATA; MESSAGE_DATA_PTR void extract_data(Data_Pointer_Type* MSG_DATA_PTR,...); void write_link(Data_List_Type* DATA_LIST,...); Should be a reference: : &MESSAGE_DATA : Should not dereference: (MESSAGE_DATA) extract_data(MESSAGE_DATA,...); Casting not needed ... write_link((Data_List_Type *)(*(unsigned int*)MESSAGE_DATA),... Korea Aerospace Industries Proprietary Information 8

Java Pros and Cons• Lessons learned from prior projects also led to considering Java − Boosted by the presence of OOTiA and RTSJ (2004)• Pros − C/C++ like syntax : easier transition to the new language − No pointers, No header files − Safer and more secure• Cons − Garbage Collection − Big JamaicaVM caught our attention so it was evaluated − Slow OOTiA: Object Oriented Technology in Aviation RTSJ: Real-time Specification for Java Korea Aerospace Industries Proprietary Information 9

Real-time Java• JSR-1 RTSJ adds features that are immune to GC − Memory models and regions that are not subject to GC − Real-time threads that are not preemptible by GC From aicas technology brief GC: Garbage Collection JSR: Java Specification Request RTSJ: Real-time Specification for Java Korea Aerospace Industries Proprietary Information 10

Real-time Java• JamaicaVM from aicas − Implements Work-Based GC which runs when and where memory allocation occurs − Also implements RTSJ but having deterministic GC enables real-time programming easier From aicas technology brief GC: Garbage Collection RTSJ: Real-time Specification for Java Korea Aerospace Industries Proprietary Information 11

Language Selection• Performance Evaluation − Test program • Existing in-house tool written in C was converted to Java • The tool was a weapon delivery accuracy analysis software based on actual ballistics algorithm − Target Environment • OS: VxWorks 5.5.1, BSP 1.2/1.10 • CPU: SBS CK5 MPC 7447A 999MHz • RAM: 512MB − Some optimizations were done with profiling and adjusting compile options to get the best possible results BSP: Board Support Package Korea Aerospace Industries Proprietary Information 12

Language Selection• Results C Java Speed (msec) 1.43 2.8 Java is 1.98 times slower Java includes JVM which is File Size 157KB 4MB 3~4MB depending on packages• Conclusion − Target CPU speed (1.6 GHz) and large memory size (1 GB) were thought to be sufficient enough to run Java applications• JamaicaVM was selected for the development of the Flagship Project Korea Aerospace Industries Proprietary Information 13

Development• Development Environment − Models containing code are put under configuration control Requirements : DOORS Version Control : PVCS Ground Test / Rhapsody Flight Test Eclipse STE & SIL JamaicaVM EMMA / VeriFlux CodeCover GUI : GL Studio - evaluated but not integrated with the process, yet SIL: System Integration Laboratory STE: Software Test Equipment Korea Aerospace Industries Proprietary Information 14

OFP Layers• JVM’s platform independence enables modular development − Success story : One day integration of JVM and HUD OFP JVM provided portability Self (KAI) provided portability T-50 Java Applications (OFP) KUH C++ Applications (OFP) FC HUD MFDS IUFC SMM PFD MFDS CDU KAI Works JNI JOGL KAI API KAI OpenGL Framework Real-time JVM based on Vendor Rhapsody OXF Device Works Device (OS Services) OpenGL SC Drivers Drivers OS* OS** OS : VxWorks, NEOS, Windows * OS : VxWorks, WindowsCDU: Control & Display Unit JNI: Java Native Interface JOGL: Java OpenGL JVM: Java Virtual MachineKUH: Korea Utility Helicopter OXF: Object Execution Framework PFD: Primary Flight Display SC: Safety CriticalSMM: System Mission Management Korea Aerospace Industries Proprietary Information 15

Speed & Size Issues• OFP is designed with 50Hz rate groups − Each rate group should complete well within 20msec• Initially, it took almost 40msec for a FC OFP rate group to complete which was double the time limit − One of the reasons was data I/O utilizing JNI, especially MIL-STD-1553 due to its tight coupling with the OFP − The other reasons were compile options• HUD and MFDS were also suffered − HUD requires many JNI calls to present cursive graphic objects on the display − MFDS initially had a size of over 300MB before optimization Korea Aerospace Industries Proprietary Information 16

Optimizations• Took a few months to optimize − Compile/build options including • Tradeoff between profiled interpreter code vs compiled code • Static binding for virtual calls (no dynamic class loading), etc. − JNI • Reducing the number of JNI calls • Reducing run-time creation of temporary data buffers − Some design considerations • Making final and static where applicable e.g. constants • Reducing the number of threads• Overall efforts brought down the speed to within 20msec, and the size from over 80MB to 50MB and then to 30MB in case of FC OFP Korea Aerospace Industries Proprietary Information 17

Points to Ponder• JNI − With some care, it is a nice solution for hardware interfaces − Alternatives may be considered e.g. CORBA, XML • But are they DO-178 compliant?• Sound practice is needed regardless of languages − Programming idioms such as LSP, and − Design & Coding standards enforcing them, and − Review processes with support from automated tools• But within the same rules, Java eases much of a burden off the programmer − Enables spending more time on design, or having a longer coffee break LSP: Liskov Substitution Principle Korea Aerospace Industries Proprietary Information 18

Points to Ponder• DO-178C and supplement documents are due by the end of 2011 − After 7 years of preparation since OOTiA handbook in 2004 − Will enable the use of real-time Java Technology with deterministic garbage collection in critical avionics software• Open source, cost effective tools and environments − One such case is TOPCASED • Eclipse based systems/software development environment promoting model-driven development and formal methods• Java is a good language of choice for safety-critical, hard real-time embedded software development DO-178C: Safety Considerations in Airborne Systems and Equipment Certification OOTiA: Object Oriented Technology in Aviation TOPCASED: The Open-Source Toolkit for Critical Systems Korea Aerospace Industries Proprietary Information 19

Thank you Bang, Keugyeol 방극열 Principal Research Engineer 수석연구원 Avionics Advanced R&D Team 항전선행연구팀 bkyeol@koreaaero.com 010-9048-0828 Korea Aerospace Industries Proprietary Information 20

AcronymsAir-BEST Air-borne Embedded System and Technologies MIL-STD Military StandardAPI Application Program Interface MPSS Mission Planning and Support SystemARINC Aeronautical Radio Incorporated OFP Operational Flight ProgramBSP Board Support Package OOTiA Object Oriented Technology in Aviation, FAACDU Control and Display Unit OpenCL Open Computing LanguageFAA Federal Aviation Administration OpenGL Open Graphics LibraryFC Fire Control OS Operating SystemGC Garbage Collection OXF Object Execution FrameworkHUD Head Up Display PDR Preliminary Design ReviewIUFC Integrated Up Front Controls PFD Primary Flight DisplayJNI Java Native Interface RAII Resource Acquisition Is InitializationJOGL Java OpenGL RTOS Real-time Operating SystemJSR Java Specification Request RTSJ Real-time Specification for JavaJVM Java Virtual Machine SC Safety CriticalKAI Korea Aerospace Industries, Ltd. SIL System Integration LaboratoryKIDA Korea Institute for Defense Analysis SMC Stores Management ComputerKUH Korea Utility Helicopter SMM System Mission ManagementKMC Korea Mission Computer SMS Stores Management SystemLSP Liskov Substitution Principle STE Software Test EquipmentMFDS Multi-function Display Set UFC Up-front Controls Korea Aerospace Industries Proprietary Information 21

T 50 avionics embedded software development using java

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