Overview of the ASSERT projectGrupo de Sistemas de Tiempo Real y Arquitectura de Servicios TelemáticosUniversidad Politécn...
dit                                                                                                           UPM         ...
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dit                                                                         UPMMotivation             Control system      ...
dit                                                                                                UPMModel-driven enginee...
dit                                                            UPMThe ASSERT process                         user requirem...
dit                                                                            UPMModel transformations               data...
dit                                                                                                                UPM    ...
dit                                                                                       UPMThe ASSERT Virtual Machine• P...
dit                                                                                                              UPM      ...
dit                                                                                            UPM                        ...
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dit                                    UPMORK architecture2008-09-04         ASSERT project    13
dit                                                                          UPMCross-compilation and debugging         ap...
Pilot project ― ThalesArchitecture                              Alenia Space                                              ...
Pilot project ― Astrium Satellites                   dit                                                     UPMMulti-plat...
dit                                                                                             UPM                       ...
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ASSERT UPM

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Overview of the ASSERT project.

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ASSERT UPM

  1. 1. Overview of the ASSERT projectGrupo de Sistemas de Tiempo Real y Arquitectura de Servicios TelemáticosUniversidad Politécnica de Madrid dit UPM
  2. 2. dit UPM The STRAST group • Research in real-time systems and architecture of telematic services • Founded in 1990 • Research areas ‣ Real-time systems ‣ High-integrity systems©2008 Juan Antonio de la Puente ‣ Convergence of telematic services ‣ Telematic services on next-generation networks • Recent projects ‣ ORK ― Open Ravenscar Real-Time Kernel ‣ THREAD ― Open distributed real-time systems ‣ ASSERT ― Software engineering for spacecraft embedded systems ‣ Modelware ― Model driven engineering for real-time systems ‣ HIJA ― High integrity Java ‣ MORE ― Middleware for embedded systems 2008-09-04 ASSERT project 2
  3. 3. dit UPM The ASSERT project • IST project led by ESA/ESTEC ‣ 28 partners from industry, academy • Aimed at software for mission-critical on-board embedded systems • Basic principles©2008 Juan Antonio de la Puente ‣ Reuse through system family architectures and building blocks ‣ Preservation of properties through model transformations ‣ Use formal methods whenever possible • Key ideas ‣ Model-driven software engineering ‣ Separation between functional / concurrent & real-time aspects 2008-09-04 ASSERT project 3
  4. 4. dit UPMMotivation Control system Scheduling and design timing analysis Computer system Implementation & Software design deployment Theory and methods often conflicting or diverging2008-09-04 ASSERT project 4
  5. 5. dit UPMModel-driven engineering• Two conflicting views ‣ functional view platform - algorithms PIM specification ‣ concurrency view - synchronization, timing• Use models to describe behaviour transformation ‣ platform-independent models ‣ specify timing constraints• Apply transformations to get platform specific models PSM ‣ check timing behaviour2008-09-04 ASSERT project 5
  6. 6. dit UPMThe ASSERT process user requirements system model Scade UML Matlab SDL component models Automatic code generation with property preservation software system2008-09-04 ASSERT project 6
  7. 7. dit UPMModel transformations data view functional view modelling deployment view interface view vertical transformation feasibility concurrency view virtual machine analysis automatic code generation software system2008-09-04 ASSERT project 7
  8. 8. dit UPM The Ravenscar Computational Model • Derived from the Ada Ravenscar Profile ‣ statically analysable subset of the Ada tasking model • Defines a static concurrency and real-time model ‣ static set of periodic and sporadic threads©2008 Juan Antonio de la Puente ‣ communication through a static set of shared data objects ‣ synchronization through simple barriers ‣ fixed priority preemptive scheduling with immediate ceiling locking • Timing properties can be analysed with response-timing analysis • Used as meta-model for concurrency and time properties at all abstraction levels ‣ MOF used to define meta-model in Eclipse-based tools 2008-09-04 ASSERT project 8
  9. 9. dit UPMThe ASSERT Virtual Machine• Property-preserving execution environment ‣ A Virtual Machine built upon Automatically Generated Code certifiable components ASSERT middleware• Middleware layer SOIS MTS ‣ PolyORB-HI (ENST) comms services Comms ORK+ RT kernel• Communication layer drivers ‣ SOIS MTS (SciSys) LEON 2 hardware including SpW• RT kernel layer ‣ ORK+ (UPM) ‣ Integrated in GNATforLEON2008-09-04 ASSERT project 9
  10. 10. dit UPM Virtual Machine properties • The local VM (ORK+) directly supports the Ravenscar computational model ‣ VM-level components - Periodic & sporadic tasks - Shared protected data - Passive data objects • Temporal behaviour correct by construction©2008 Juan Antonio de la Puente ‣ Periodic activation ‣ Sporadic activation with minimum inter-arrival time ‣ Deadlines guaranteed by static analysis - WCET analysis tools: RapiTime, Bound-T - Response time analysis tool: MAST+ • Run-time mechanisms for temporal fault monitoring ‣ Minimal inter-arrival of sporadic tasks enforced by delay mechanism ‣ Deadline overruns detected by timing events ‣ Execution-time overruns detected by execution-time timers 2008-09-04 ASSERT project 10
  11. 11. dit UPM Ada 2005 compilation chain • Compiler, binder, linker ‣ GNAT for LEON / ERC32 from Ada Core - GPL and professional versions - Ravenscar run-time system©2008 Juan Antonio de la Puente • Real-time kernel ‣ ORK+ from UPM - modified GPL • Other tools ‣ Graphic programming environment: GPS ‣ Debugger: gdb ‣ test support, language rules, stack size etc. ‣ WCET analysis: RapiTime (Rapita Systems), MAST 2008-09-04 ASSERT project 11
  12. 12. dit UPM ORK+ • Lightweight real-time kernel for the Ravenscar tasking model • Developed at UPM under ESA contract ‣ ECCS E40B & ECCS Q80 processes used©2008 Juan Antonio de la Puente ‣ pre-qualification conducted by EADS-CASA Espacio • ORK+ includes new Ada 2005 features ‣ timing events ‣ execution-time clocks and timers ‣ group budgets • Ada and C interfaces 2008-09-04 ASSERT project 12
  13. 13. dit UPMORK architecture2008-09-04 ASSERT project 13
  14. 14. dit UPMCross-compilation and debugging application GNAT application GNAT sources compiler object files linker RTS application RTS specs objects exec file GDB GRMON Host computer debugger loaded Target computer application2008-09-04 ASSERT project 14
  15. 15. Pilot project ― ThalesArchitecture Alenia Space dit HRI Demonstrator / SW UPM Highly Reliable Infrastructure>=50(J6$*2*;(J(206FCC%.*0%126EE5 GC0%12* $%55%126FCC%.*0%126EE5 "$H"A >HA $*55 E$ $%55%126 GEA: :I> FGA> $2;0 $2;0 $(J :)+ $2;0 >(+D%.(5 $2;0 $2;0 .120+1FEE6A120*%2(+ FEE6A120*%2(+ FEE6A120*%2(+ FEE6A120*%2(+ FEE6A120*%2(+ FEE6A120*%2(+ FEE6A120*%2(+ FEE6A120*%2(+ :/; <6:*= >140)*+(6E/5 ,-(./0%12 324+*50+/.0/+(678$9 ,KJ0 @B3! "%J( @%( $2;0 K:/; <6:*= >140)*+(6?/5 $2;0 $2;0 K@A! KB%50+%?/0%1260+*25C*+(2.=FEE6A120*%2(+ FEE6A120*%2(+ FEE6A120*%2(+ FEE6A120*%2(+ K$%&&()*+( 5(+D%.(5 K!"# KAEE5 !4; /7*& #60#.$4&%,52&+ #6$6&/7%8$4&%,- ./*0123 4&%,52&+ 6(++G/&/7%8 1EE52()57< #%(<+E7%) !"# 4C6$/(<(D&/&<) !"#$%&()&*$+&%,- 4E(2&F5%&$6D<) H&)I7%J $%&&()*+( ..494 46:$;<)&%<($"=+ >??@$A-B 4EF L!36>140)*+(6 F+.N%0(.0/+(6 LB>M E>: B(C1=(&6 1D(+6LM A1JC/0(+6>=50(J6L*+&)*+( >%J/*0(& ,KJ0 09/01/2008 6 assert-project / Thales Alenia Space – HRI Pilot Project 2008-09-04 ASSERT project 15
  16. 16. Pilot project ― Astrium Satellites dit UPMMulti-platform Cooperation• Scenario - Constellation of observation satellites - Autonomous management of requests allocation and execution• Development process - Validation on native platform (PolyORB/Linux) - Validation on simulator (TSIM) - Validation on Leon2 board• Virtual Machine customization - Specific SpWdriver - Added support for SpWrouting through logical addressing2008-09-04 ASSERT project 16
  17. 17. dit UPM Conclusions • Model-driven development for high-criticality systems ‣ sound computational model ‣ property-preserving transformations©2008 Juan Antonio de la Puente • Solid execution platform ‣ preserves temporal behaviour at run-time ‣ small, efficient runtime & kernel • Used industrial-grade pilot projects ‣ final version being developed under ESA contract 2008-09-04 ASSERT project 17

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