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Validation of Bosch' Mobile Communication Network Validation of Bosch' Mobile Communication Network Architecture with Spin Theo C. Ruys and Rom Langerak Faculty of Computer Science, UniversityofTwente. P.O. Box 217, 7500 AE Enschede, The Netherlands. fruys,[email protected] March 14, 1997 Abstract This pap er discusses validation pro jects carried out for the Mobile Communication Division of Rob ert Bosch GmbH. We veri ed parts of their Mobile Communication Network (MCNet), a communication system which is to be used in infotainment systems of future cars. The proto cols of the MCNet have b een mo delled in Promela and validated with Spin. Apart from the validation results, this pap er discusses some observations and recommendations of the use of Promela and Spin. Keywords proto col, validation, veri cation, mo del checking, literate programming, Spin, Promela 1 Intro duction This pap er discusses the validation of parts of the Mobile Communication Network (MCNet), which has b een develop ed at the Mobile Communication Division of Rob ert BoschGmbH. MC- Net is a communication system whichistobeusedin infotainment systems [14] of future cars. Infotainment systems encompass entertainment systems like conventional car radios equipp ed with CD changers and driver information systems likenavigation units, (mobile) telephones, etc. New technologies like RDS Plus (Radio Data System), TIM (Trac Information Memory), DAB (Digital Audio Broadcasting), etc. put high requirements on infotainment systems, which will develop into complex, integrated systems. Communication b etween the various comp onents of such systems will b ecome increasingly imp ortant. As an example, supp ose one is driving in such a mo dern car. Assume that while listening to a CD the RDS system receives information ab out a trac jam on the route that was laid out by the navigation unit. The CD should b e immediately interrupted to transmit the radio announcement and furthermore, the navigation unit should nd an alternative route. But what should happ en if at the same time the mobile phone rings? Should the radio announcementbeinterrupted? And if so, should the announcement be saved? It should be clear that the communication network underlying the complete infotainment system should b e highly reliable. 1 In the last twoyears, our group has b een involved in the validation of the MCNet Architec- ture. Wehave mo delled parts of successiveversions of MCNet in Promela [7]andwehave used 2 Spin to simulate and verify our mo dels. 1 The Formal Metho ds and To ols group of the Department of Computer Science of the UniversityofTwente. 2 In this pap er use the term Spin when discussing the simulation and validation of Promela mo dels. In most cases, however, we used the graphical interface Xspin, which resides on top of Spin, to manipulate the Promela mo dels. 1 With Spin wewere able to pinp oint several caveats in earlier versions of the MCNet (i.e. [17] and [18]). Bosch adopted most of our recommendations to correct and improve the reliabilityof the MCNet proto cols. We did not nd any serious errors in the last version of MCNet [19] that wevalidated. The structure of the rest of this pap er is as follows. In section 2, an intro duction to the MCNet Architecture is given. Our validation e orts are summarized in section 3. In section 4, some exp eriences with Promela and Spin are discussed. The pap er is concluded in section 5, where some conclusions and recommendations are presented. 2 The MCNet Architecture 3 The Mobile Communication Network (MCNet) is develop ed at the Mobile Communication Divi- sion of the Bosch Blaupunkt Group, a sub division of Rob ert BoschGmbH (abbreviated to Bosch). Bosch is a German company, which is well known as a supplier of comp onents and subsystems to the automative industry. Other areas of business of Bosch include communication technology, consumer go o ds and capital go o ds. [19] sp eci es the goal of MCNet: \The aim of MCNet is to sp ecify a reliable system capable of transferring driver information and control data. It was not designed for exchanging audio or video data." MCNet is prop osed as a company-wide standarization within Bosch. Later, the MCNet sp eci cation will b e o ered to interested third parties to reach a more widespread usage 4 [19]. For this reason, muchwork has b een carried out within the OSEK group. The main result of this collab oration is that the MCNet's Transp ort proto col is in conformance with the up coming OSEK standard. The MCNet will b e built on top of a Controller Area Network (CAN) [3], which is a serial data communications bus system esp ecially suited for networking `intelligent' I/O devices. Features of the CAN include a multi-master proto col, real-time capabilities, error correction and high-noise immunity. The CAN serial bus system, originally develop ed by Bosch to reduce the need for massive wiring harnesses in automobiles, is increasingly b eing used in industrial automation. CANisaninternational standard and is do cumented in ISO-11898 [3] (for high-sp eed appli- cations) and in ISO-11519 [1, 2] (for lower-sp eed applications). Gentle intro ductions to CAN can b e found on the Internet, for example [8] and [21]. 2.1 Layered Architecture Because of similar demands, the MCNet resembles the layered architecture of ISO/IEC's standard on Op en System Interconnection (OSI) [4]. Using the standard pro cedures and proto cols of the OSI architecture as a basis for MCNet has the following b ene ts [19]: separation of concerns: applications and communications are cleanly separated from each other; reusability: not only abstract concepts, but also (existing) software and hardware may b e reused; interop erability: individual layers can b e mo di ed or replaced in keeping with changing require- ments (as long as internal interfaces need not b e mo di ed); testability: the development, manufacturing and diagnosis of the network is more easily tested. Figure 1 (from [19]) shows the corresp ondence b etween MCNet and the OSI Layers. 3 The MCNet was formerly called Mobile Communication Architecture (MCA). 4 OSEK is an abbreviation for the German \O ene Systeme und deren Schnittstellen fur di Elektronik im Kraftfahrzeug" (Op en systems and the corresp onding interfaces for automotive electronics) and is the international standardization group of car manufacturers and suppliers. It aims at an industry standard for an op en-ended architecture for distributed control units in vehicles. The parties within OSEK are: Op el, BMW, Daimler-Benz, Mercedes-Benz, Rob ert Bosch, Siemens, Volkswagen and the University of Karlsruhe. 2 MCNet Application Software OSI Layers Application 7 Adaption Layer Presentation 6 Session 5 Transport 4 Transfer Layer Network 3 Data Link 2 Physical 1 Data Link Layer Management Services Device Driver Physical Layer CAN v2.0A Figure 1: Corresp ondence b etween MCNet and the OSI layers. The Physical Layer is resp onsible for sending and receiving bit streams. Currently, for reasons of cost reduction and extended error-failure management, only a low sp eed (a bit rate below 125 Kbit/s) is applied. The Data Link Layer is resp onsible for sending and receiving CAN telegrams. The Data Link services used in MCNet are a subset of those de ned in [2] for CAN low sp eed. The Transfer Layer corresp onds to the Transp ort Layer of the OSI (layer 4) and is resp onsible for the segmentation of messages of any length. The MCNet Transfer Layer conforms to the up coming standard of OSEK v2.0. The Transfer Layer o ers three data services to the Adaption Layer [19]: Long Data Service: connection-oriented acknowledged data transfer service for transp orta- tion of `long messages' (more than 7 bytes of application data); Expedited Data Service: exp edited connection-oriented acknowledged data transfer (7 bytes or less of application data); Broadcast Data Service: unacknowledged broadcast data transfer service. The Transfer Layer also supp orts services to test the connection b etween proto col entities. In the current version of MCNet [19], the Transfer Layer is sp eci ed as a sliding-window proto col where a proto col entity can send a blo ck of Transfer Proto col Data Units (TPDUs) b efore awaiting the acknowledgement of the blo ck. Previous versions of MCNet [17, 18] only supp orted a `send and wait (for the acknowledgement)' proto col. The Adaption Layer, the highest layer of MCNet, serves as the interface between the communication software and the application software. The Network Management is not a part of the OSI reference mo del, but instead is commonly used in the area of eldbus systems. It can b e viewed as an additional `vertical' layer with control interfaces to each of the `horizontal' communication layers (see Figure 1). The management services encompass b oth network and (lo cal) station management. 2.2 De ning do cuments The consecutiveversions of the MCNet proto col are de ned and well do cumented in [17], [18] and [19]. For each proto col layer, the do cuments discuss the following asp ects: 3 Service The service de nitions o ered by the particular proto col are presented: the service prim- itives together with their parameters are listed. PDU If applicable, the Proto col Data Unit (PDU) structure of the proto col is de ned. Proto col The proto col itself is formally de ned through state transition tables. Time sequence diagrams Some of the proto cols are illustrated with time sequence diagrams describing particular scenarios. Although the service primitives supp orted by a particular proto col are well de ned, the desiredbe- haviour of the proto col is unclear from the service primitives alone; the (formal) relations b etween the primitives is missing.
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