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Auto-Coding UML Statecharts for Flight Software

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Auto-Coding UML Statecharts for Flight Software Auto-coding UML Statecharts for Flight Software Ed Benowitz, Ken Clark, Garth Watney Jet Propulsion Laboratory, California Institute of Technology {Edward.Benowitz, Ken.Clark, Garth.Watney}@jpl.nasa.gov Abstract coder was used to generate code. The auto-generated Statecharts have been used as a means to code was then post-processed into flight code, communicate behaviors in a precise manner between compliant with the flight software design team’s system engineers and software engineers. Hand- coding style and constraints. The team reported an translating a statechart to code, as done on some overall positive experience with auto-coding, but previous space missions, introduces the possibility of highlighted the importance of open code generation errors in the transformation from chart to code. To algorithms. improve auto-coding, we have developed a process that generates flight code from UML statecharts. Our 2.1. Deep Impact process is being used for the flight software on the Space Interferometer Mission (SIM). Like the Deep Space 1 mission, Deep Impact (DI) [2] used Stateflow as a drawing and simulation tool. 1. Introduction Flight code was automatically generated for both fault protection monitors and responses. Deep Impact used Designs are often specified, formally or informally, an updated version of StateFlow, which was as hierarchical statecharts. As space missions become incompatible with the file format version used on DS1. more complex, the software complexity must be Additionally, DI was written in C++, and had different communicated both within a software engineering requirements for auto-coder output. The DI team team, and between software and system engineers. In a wrote a new postprocessor as a series of M4 scripts. rapid flight software development environment, it This tool post-processed the code generated by would be desirable to move from statechart to code StateFlow into flight C++ code. In addition, with as few translation errors as possible. The goal of spreadsheet tables were used as a part of the auto- this work is to automate the translation of statecharts to coding process. flight code. Our goal is not to change all flight code into a statechart. Rather, our goal is to take as input 3. STAARs Process Overview existing requirements and designs already expressible as statecharts. Those statecharts are drawn in a Unified The auto-coding of UML statecharts fits into a Modeling Language (UML) [5] graphical design tool. larger software development and verification process at Then our auto-coder tool transforms a UML statechart JPL called STAARS (STate-based Architecture and to working flight code. The generated code works with Auto-coding for Real-time Systems). STAARS is a the Quantum Framework [3], a reusable statechart process that loosely combines 5 software tools for the library. purpose of building rapid executable and verifiable models that can be implemented directly into the 2. Prior Work application software. Each of these software tools is light-weight and dedicated to a specific task. This 2.1. Deep Space 1 provides flexibility not permitted under the large all- purpose commercial modeling tools. Each of these The Deep Space 1 (DS1) [1] mission was the first software tools can be swapped in and out or modified JPL mission to use auto-coding with statecharts. For to fit the needs of a specific project. The learning this mission, auto-coding was used for the fault curve is low and the cost minimal. The tools of the protection subsystem only. Statecharts were drawn in STAARS process are: Stateflow for MatLab [4]. Stateflow’s internal auto- 2nd IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT'06) 0-7695-2644-6/06 $20.00 © 2006 Authorized licensed use limited to: CALIFORNIA INSTITUTE OF TECHNOLOGY. Downloaded on April 16,2010 at 23:37:37 UTC from IEEE Xplore. Restrictions apply. ¾ UML Modeling. The process starts with a drawing ¾ Weight - Light, Medium or Heavy weight. Is the tool that supports the UML statechart tool quick and easy to install? Quick and easy to specifications. The only requirement on the start up? Small learning curve. Does not require drawing tool is that the output model be saved as a great amount of resources in time or resources to an XMI file. Any statechart drawing tool that learn and use? meets this requirement may be used in this ¾ Cost – The tool should be moderately priced, or process. possibly free if it is open source. ¾ State-based framework. A good state-based ¾ User interface - Is the tool easy to use? Does it software framework is essential to this whole have good drawing capabilities? process, providing a library of code to support the ¾ UML support - Does the tool support most of the execution and representation of statecharts within UML diagrams we are interested in? (Class, State, C or C++. The framework we have selected is the and Sequence diagrams…) Quantum Framework developed by Miro Samek ¾ Export XML - Does the tool export the UML [3]. This framework allows for an easy diagrams in XML – particularly XMI [8] which is transformation from the UML statechart diagrams defined by the Object Modeling Group. into code. The framework and design patterns are ¾ Presentable - Does the tool produce good looking clean, efficient, and are designed with real-time drawings that can be used for presentations? Cut embedded applications in mind. and past into PowerPoint and Word documents? ¾ Autocoding. Our auto-coder is a light weight tool Large fonts, color coded etc? that provides the automation of what would ¾ Cross reference between diagrams - Can an otherwise be a manual effort of converting interaction diagram be setup from a class diagram? statechart diagrams directly into code. ¾ Product Support - How will questions get ¾ Test harness. This tool provides a method to answered, problems fixed, and product execute the state machine model. It consists of a maintained? few python scripts that allow the user to execute In parallel with the UML tool trade study, a the model in a GUI. The user generates events prototype state chart auto-coder tool was created in with the click of a button, and graphically sees August 2004, reading simple XML state charts created states and transition changes. by one of the candidate UML tools. The relative ease ¾ Model checking. The Autocoder tool will soon be with which an auto-coder tool could be created, using augmented to output verification models in the as input the XMI state chart representation, convinced Promela language. Promela is the input language the SIM RTC project to undertake the development of to a powerful model-checker called SPIN. This a NASA Class B (mission critical) version of the state tool will give the user the capability to chart auto-coder in November 2004. exhaustively check for various correctness properties in the model. 5. Auto-coder 4. Drawing Tools Drawing from the lessons learned of DI and DS1, it was important for SIM that we have complete control In support of the STAARS process, a trade study over the auto-coding process. We developed our own was conducted in the summer of 2004 to select a UML auto-coder, consisting of 3 parts: a parser stage, which drawing tool to be used for the SIM RTC Flight reads an input file, an internal model representation, Software design and development. The SIM RTC and a code generator. The parser to be swapped out, project desired a common tool that could be used, both allowing us to accommodate different drawing tools. by the Flight Software and Control Algorithm Additionally, we provide multiple back ends for code development teams, to document the complex behavior generation, outputting both C and C++. of the SIM RTC system via State and Sequence diagrams. In addition, the flight software development 5.1. Auto-coder Inputs team wanted to use the tool to design and document the flight software’s C++ class structure, and possibly to The inputs to the state chart auto-coder are XML generate a standard XMI input format for a flight files containing XMI [8], the standard meta-data software auto-coding tool. representation of UML state charts. A primary goal of The following criteria were evaluated as part of the using a UML tool as part of our software development UML tool trade study: process was to use a non-proprietary XML state chart representation based upon an open standard. 2nd IEEE International Conference on Space Mission Challenges for Information Technology (SMC-IT'06) 0-7695-2644-6/06 $20.00 © 2006 Authorized licensed use limited to: CALIFORNIA INSTITUTE OF TECHNOLOGY. Downloaded on April 16,2010 at 23:37:37 UTC from IEEE Xplore. Restrictions apply. XML provides several advantages for us an input functionality, these new features are added. Currently, format. It is human readable as a text file, and many our auto-coder supports the following features of free parsers exist for XML on a variety of platforms. UML: composite states, events, actions, signals, As our auto-coder is implemented in Java, we use the guards, junctions, orthogonal regions, initial states and standard parsers that come with the Java development deep history states. kit. An XML document consists of elements and Our auto-coder, which is written in Java, can be attributes. Ordering and restrictions on these XML separated into three areas: the front end, the state elements is typically provided by a custom schema for machine model, and the back end. The front end is each application domain. XMI provides constraints on responsible for parsing an input file, and creating the XML files, and provides a meta-model for describing state machine model. The state machine model is a set UML within XML. of Java objects representing every element of the state During the development of the state chart auto- machine, from States to Transitions.
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