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SiriusCon2016 - Modelling Spacecraft On-board Software with Sirius

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>> These slides were presented at SiriusCon Paris 2016, on November 15th by Andreas Jung (European Space Agency)

The European Space Agency, together with industry, has lead an analysis into the issues faced by spacecraft software developers now and in the future, considering several aspects as for example raising complexity of the software, shorter development life cycles, etc. The analysis resulted in the development of an On-board Software Reference Architecture (OSRA) founded on the principles of component-based software engineering (CBSE) and strong separation of concerns.

A dedicated Domain Specific Language for the component model was developed, called Space Component Model (SCM), to allow the precise definition with clear semantical meaning, in particular considering the domain specific elements like observability and commandability of spacecrafts via Telemetry and Telecommand. The SCM was implemented as a meta-model in ecore. The R&D activity that have developed the OSRA and the SCM have also prototyped a graphical editor to experiment and test the complete approach, from modelling down to code generation for the target.

The original prototype of the graphical editor was based on Eclipse and Obeo Designer, which allowed very quick and simple prototyping of a graphical editor. Following the R&D activities, it was clear that an improved version of the editor, in terms of usability, is needed. An improvement activity has been started with Obeo, using now the open source version of Obeo Designer, namely Sirius. The intention was also to push Obeo's technology further to evaluate it for applicability in a commercial tool.

This talk will give a brief overview of the challenges of spacecraft software development, the needs for a graphical editor, present the results of the improvement activity, show the benefits of the Eclipse and Sirius frameworks and provide an overall evaluation.

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SiriusCon2016 - Modelling Spacecraft On-board Software with Sirius

  1. 1. ESA UNCLASSIFIED - For Official Use Modelling Spacecraft On-board Software with Sirius Andreas Jung 15/11/2016
  2. 2. Andreas Jung | ESTEC | 15/11/2016 | Slide 3ESA UNCLASSIFIED - For Official Use Outline 1. Characteristics of spacecraft on-board software 2. Development of the On-board Software Reference Architecture (OSRA) utilizing a component based approach  Development of a DSL: the “Space Component Model” 3. The needs for a Graphical editor for the Space Component Model (DSL) 4. Graphical editor improvement activity with Obeo, fully utilizing the Eclipse and Sirius frameworks 5. Overall evaluation and next steps Execution Platform Mission Management : Ada Container Container Thermal Management : C
  3. 3. Andreas Jung | ESTEC | 15/11/2016 | Slide 4ESA UNCLASSIFIED - For Official Use Characteristics of Spacecraft software (= On-board Software) • Software handles the system behavior and complexity • Limited processing power and memory: embedded • Timing constraints: (hard) real-time • Domain specific elements: e.g. observability and commandability of spacecrafts via Telemetry and Telecommand (this is the only “window” into the system) • Software is critical to mission success: stringent standards  ECSS Current trends in space projects • Increasing complexity and expectations • Increasing Software development effort …competing against • Cheaper (and smaller) missions • Shorter development timescales Spacecraft on-board software timeSW-SRR SW requirements definition SWRR / SW-PDR SW V0 for AIT SW release UN-01 UN-07UN-06 schedule for SW development
  4. 4. Andreas Jung | ESTEC | 15/11/2016 | Slide 5ESA UNCLASSIFIED - For Official Use Development of the SAVOIR On-board Software Reference Architecture (OSRA) and To cope with the described trends • ESA, together with industry, has performed an analysis into the issues faced by spacecraft software developers now and in the future • Started 2009 within the frame of SAVOIR (= Space Avionics Open Interface Architecture) and supported by a PhD thesis • Several R&D studies and harmonization efforts • Final results in 2015 • The analysis resulted in the development of an “On-board Software Reference Architecture” (OSRA) founded on the principles of component-based software engineering and strong separation of concerns. • This architecture is foreseen to be the guiding reference for future on-board software developments – following the SAVOIR approach (same as AUTOSAR): Cooperate on standards, compete on implementation Execution Platform Mission Management : Ada Container Container Thermal Management : C
  5. 5. Andreas Jung | ESTEC | 15/11/2016 | Slide 6ESA UNCLASSIFIED - For Official Use SAVOIR On-board Software Reference Architecture OSRA systematizes the Software Architecture Objectives: • FASTER – produce quicker • LATER – modify late • SOFTER – subcontract easily • Model-based approach with components • Automated by SW Factory and associated analysis • middleware on which applications (components) are deployed Execution Platform Mission Management : Ada Container Container Thermal Management : C
  6. 6. Andreas Jung | ESTEC | 15/11/2016 | Slide 7ESA UNCLASSIFIED - For Official Use Space Component Model – a DSL for OSRA Meta-model • A dedicated domain specific language (DSL) for the component model was developed in ecore, called Space Component Model (SCM), to precisely define the needs • On purpose no UML profile or similar was chosen to allow the precise definition with clear semantical meaning • in particular considering the domain specific elements like observability and commandability of spacecrafts via Telemetry and Telecommand. • The SCM was implemented as a meta- model in ecore. MAG_FAILURE_EM AOCS_MODE_IF MAG_FAILURE_RC <<instance>> Mode_Manager_C _inst <<interface>> AOCS_MODE_IF previousMode : AOCS_MODE DAT (ro) currMode : AOCS_MODE DAT (ro) SetMode(m: in AOCS_MODE) EnableTransToNOM() <<interface>> AOCS_CYCLE_IF Step() <<instance>> AOCS_C_inst <<NF_desc>> Step : <<cyclic>> Period = 125 ms<<NF_desc>> MAG_FAILURE_RC_EV_HANDL : <<protected>> Get_previousMode : <<protected>> Get_currMode : <<protected>> SetMode : <<protected>> EnableTransToNOM : <<unprotected>> <<NF_desc>> <<instance>> AOCS_C_inst AOCS_MODE_IF <<instance>> Mode_Manager_C _inst AOCS_MODE_IF MAG_DATA_IF THR_CMD_IF <<instance>> MAG_C_inst <<instance>> THR_C_instTHR_CMD_IF OBT_IF MAG_DATA_IF <<instance>> OBT_C_inst OBT_T
  7. 7. Andreas Jung | ESTEC | 15/11/2016 | Slide 8ESA UNCLASSIFIED - For Official Use Space Component Model – a DSL for OSRA Meta-model • A dedicated domain specific language (DSL) for the component model was developed in ecore, called Space Component Model (SCM), to precisely define the needs • On purpose no UML profile or similar was chosen to allow the precise definition with clear semantical meaning • in particular considering the domain specific elements like observability and commandability of spacecrafts via Telemetry and Telecommand. • The SCM was implemented as a meta- model in ecore. <<instance>> AOCS_C_inst AOCS_MODE_IF <<instance>> Mode_Manager_C _inst AOCS_MODE_IF MAG_DATA_IF THR_CMD_IF <<instance>> MAG_C_inst <<instance>> THR_C_instTHR_CMD_IF OBT_IF MAG_DATA_IF <<instance>> OBT_C_inst OBT_T MAG_FAILURE_EM AOCS_MODE_IF MAG_FAILURE_RC <<instance>> Mode_Manager_C _inst <<interface>> AOCS_MODE_IF previousMode : AOCS_MODE DAT (ro) currMode : AOCS_MODE DAT (ro) SetMode(m: in AOCS_MODE) EnableTransToNOM() <<interface>> AOCS_CYCLE_IF Step() <<instance>> AOCS_C_inst <<NF_desc>> Step : <<cyclic>> Period = 125 ms<<NF_desc>> MAG_FAILURE_RC_EV_HANDL : <<protected>> Get_previousMode : <<protected>> Get_currMode : <<protected>> SetMode : <<protected>> EnableTransToNOM : <<unprotected>> <<NF_desc>>
  8. 8. Andreas Jung | ESTEC | 15/11/2016 | Slide 9ESA UNCLASSIFIED - For Official Use Space Component Model – a DSL for OSRA Meta-model • A dedicated domain specific language (DSL) for the component model was developed in ecore, called Space Component Model (SCM), to precisely define the needs • On purpose no UML profile or similar was chosen to allow the precise definition with clear semantical meaning • in particular considering the domain specific elements like observability and commandability of spacecrafts via Telemetry and Telecommand. • The SCM was implemented as a meta- model in ecore. MAG_FAILURE_EM AOCS_MODE_IF MAG_FAILURE_RC <<instance>> Mode_Manager_C _inst <<interface>> AOCS_MODE_IF previousMode : AOCS_MODE DAT (ro) currMode : AOCS_MODE DAT (ro) SetMode(m: in AOCS_MODE) EnableTransToNOM() <<interface>> AOCS_CYCLE_IF Step() <<instance>> AOCS_C_inst <<NF_desc>> Step : <<cyclic>> Period = 125 ms<<NF_desc>> MAG_FAILURE_RC_EV_HANDL : <<protected>> Get_previousMode : <<protected>> Get_currMode : <<protected>> SetMode : <<protected>> EnableTransToNOM : <<unprotected>> <<NF_desc>> <<instance>> AOCS_C_inst AOCS_MODE_IF <<instance>> Mode_Manager_C _inst AOCS_MODE_IF MAG_DATA_IF THR_CMD_IF <<instance>> MAG_C_inst <<instance>> THR_C_instTHR_CMD_IF OBT_IF MAG_DATA_IF <<instance>> OBT_C_inst OBT_T
  9. 9. Andreas Jung | ESTEC | 15/11/2016 | Slide 10ESA UNCLASSIFIED - For Official Use The needs for a Graphical editor for the Space Component Model Graphical editor prototype: • To experiment the SCM meta-model a graphical editor was needed. • R&D activity also prototyped a graphical editor to experiment and test the complete approach. • Original prototype of the graphical editor was based on Eclipse and Obeo Designer, which allowed a quick and simple prototyping of a graphical editor.  Developed by a PhD student. • Use of Obeo Designer / Sirius was more a coincident, since it fitted well with DSL in ecore and was available for universities free of charge • Alternative would have been to develop a dedicated, custom made tool Conclusion: • Sirius was good for prototyping and fitted with meta-model developed in ecore
  10. 10. Andreas Jung | ESTEC | 15/11/2016 | Slide 11ESA UNCLASSIFIED - For Official Use Graphical editor improvement activity with Obeo, fully utilizing the Eclipse and Sirius frameworks Following the R&D activities, it was clear that an improved version of the editor, in terms of usability, is needed. • Prototype was not user-friendly: • 12 diagrams with 19 tables • a lot of steps to create an initial model • related information (tables/diagrams) were not visible at the same time • … …but it was never the intention of the prototype to be user friendly – the objective was to experiment and validate the meta-model. • Hence, an improvement activity has been started with Obeo, using now Sirius. The intention was also to experiment Obeo's and Eclipse technology further to evaluate it for applicability and use in an industrial and production context.
  11. 11. Andreas Jung | ESTEC | 15/11/2016 | Slide 12ESA UNCLASSIFIED - For Official Use Improved OSRA SCM Model Editor – overview The following major changes were implemented: • Overall usability improvement • Dedicated OSRA Perspectives (Basic and Expert) • Project creation wizards • Provision of an Activity Explorer (central starting point) • Provision of a Context browser (Amalgam project) • Provision of a dedicated OSRA Properties View (EEF) • Merging of diagrams: 12 diagrams + 19 tables to 4 diagrams and pop-up windows with tables • Dedicated floating pop-ups as an intuitive alternative to Sirius tables and some diagrams • Better handling of validation through the Problems View NB: Improvements were also inspired by Capella (System engineering modelling tool also based on Sirius).
  12. 12. Andreas Jung | ESTEC | 15/11/2016 | Slide 13ESA UNCLASSIFIED - For Official Use Improved OSRA SCM Model Editor in more detail • Overall usability improvement • Dedicated OSRA Perspectives (Basic and Expert)  allows a simple and clean GUI without need for an RCP app (keeping full integration with other Eclipse plugins) • Project creation wizards • Provision of an Activity Explorer (central starting point)
  13. 13. Andreas Jung | ESTEC | 15/11/2016 | Slide 14ESA UNCLASSIFIED - For Official Use Improved OSRA SCM Model Editor in more detail • All diagrams implemented in Sirius
  14. 14. Andreas Jung | ESTEC | 15/11/2016 | Slide 15ESA UNCLASSIFIED - For Official Use Improved OSRA SCM Model Editor in more detail • Context explorer (Amalgam project): • OSRA properties (EEF):
  15. 15. Andreas Jung | ESTEC | 15/11/2016 | Slide 16ESA UNCLASSIFIED - For Official Use OSRA SCM Model Editor in more detail • Dedicated floating pop-up windows with tables • Floating in-front of diagrams (still allowing to switch between diagrams) • Pop-up windows well integrated with Sirius  Suggestion for Sirius to support their tables also in pop-up windows. From different diagram
  16. 16. Andreas Jung | ESTEC | 15/11/2016 | Slide 17ESA UNCLASSIFIED - For Official Use OSRA SCM Model Editor in more detail • Dedicated floating pop-up windows with tables • Floating in-front of diagrams (still allowing to switch between diagrams) • Pop-up windows well integrated with Sirius  Suggestion for Sirius to support their tables also in pop-up windows. Several tabs in deployment pop-up
  17. 17. Andreas Jung | ESTEC | 15/11/2016 | Slide 18ESA UNCLASSIFIED - For Official Use Overall evaluation of Sirius and Eclipse framework Sirius evaluation + Robust framework, focused mainly on graphically modelling + Potential of integration with other EMF related plugins Recommendations: • Allow pop-up windows with tables (and diagrams?) to float in-front of diagrams • Complex modelling tools will most likely mix graphical and text based modelling Eclipse evaluation + Many plugins have been developed on which new tools can build + High extensibility and integration – However, if more is needed than what the plugin provides, expert knowledge is needed! – Performance issues experienced (from a user perspective) Comments on development and maintainability of Eclipse based tools: • Basic modifications/improvements can be done by non-experts (thanks to model based approach even for configuration of some plugins, e.g. EEF config in Sirius) • Expert knowledge needed to extend the tool (detailed knowledge needed on how the complete framework works together, which can be complex…)
  18. 18. Andreas Jung | ESTEC | 15/11/2016 | Slide 19ESA UNCLASSIFIED - For Official Use Next steps SCM Model Editor tool has been improved in terms of Usability and Functionality. Now considered to be ready for distribution to European space industry for - Training purposes and understanding the practical implication of the OSRA approach - Evaluation of the tool itself in an industrial context. Among others the Scalability of the modelling approach to be evaluated. - Collection of user needs for a modelling tool for the OSRA For the further evolution of the tool, it would be interesting to - Investigate support for concurrent modelling in the context of the OSRA - Model migration in case of meta-model changes - Performance improvement

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