Model and Tool Integration in High Level Design of Embedded Systems JIANLIN SHI Licentiate thesis TRITA – MMK 2007:10 Department of Machine Design ISSN 1400-1179 Royal Institute of Technology ISRN/KTH/MMK/R-07/10-SE SE-100 44 Stockholm TRITA – MMK 2007:10 ISSN 1400-1179 ISRN/KTH/MMK/R-07/10-SE Model and Tool Integration in High Level Design of Embedded Systems Jianlin Shi Licentiate thesis Academic thesis, which with the approval of Kungliga Tekniska Högskolan, will be presented for public review in fulfilment of the requirements for a Licentiate of Engineering in Machine Design. The public review is held at Kungliga Tekniska Högskolan, Brinellvägen 83, A425 at 2007-12-20. Mechatronics Lab TRITA - MMK 2007:10 Department of Machine Design ISSN 1400 -1179 Royal Institute of Technology ISRN/KTH/MMK/R-07/10-SE S-100 44 Stockholm Document type Date SWEDEN Licentiate Thesis 2007-12-20 Author(s) Supervisor(s) Jianlin Shi Martin Törngren, Dejiu Chen ([email protected]) Sponsor(s) Title SSF (through the SAVE and SAVE++ projects), VINNOVA (through the Model and Tool Integration in High Level Design of Modcomp project), and the European Embedded Systems Commission (through the ATESST project) Abstract The development of advanced embedded systems requires a systematic approach as well as advanced tool support in dealing with their increasing complexity. This complexity is due to the increasing functionality that is implemented in embedded systems and stringent (and conflicting) requirements placed upon such systems from various stakeholders. The corresponding system development involves several specialists employing different modeling languages and tools. Integrating their work and the results thereof then becomes a challenge. In order to facilitate system architecting and design integration of different models, an approach that provides dedicated workspaces/views supported by structured information management and information exchange between domain models and tools is required. This work is delimited to the context of embedded systems design and taking a model based approach. The goal of the work is to study possible technical solutions for integrating different models and tools, and to develop knowledge, support methods and a prototype tool platform. To this end, this thesis examines a number of approaches that focus on the integration of multiple models and tools. Selected approaches are compared and characterized, and the basic mechanisms for integration are identified. Several scenarios are identified and further investigated in case studies. Two case studies have been performed with model transformations as focus. In the first one, integration of Matlab/Simulink® and UML2 are discussed with respect to the motivations, technical possibilities, and challenges. A preliminary mapping strategy, connecting a subset of concepts and constructs of Matlab/Simulink® and UML2, is presented together with a prototype implementation in the Eclipse environment. The second case study aims to enable safety analysis based on system design models in a UML description. A safety analysis tool, HiP-HOPS (Hierarchically Performed Hazard Origin and Propagation Studies), is partially integrated with a UML tool where an EAST- ADL2 based architecture model is developed. The experience and lessons learned from the experiments are reported in this thesis. Multiple specific views are involved in the development of embedded systems. This thesis has studied the integration between system architecture design, function development and safety analysis through using UML tools, Matlab/Simulink, and HiP-HOPS. The results indicate that model transformations provide a feasible and promising solution for integrating multiple models and tools. The contributions are believed to be valid for a large class of advanced embedded systems. However, the developed transformations so far are not really scalable. A systematic approach for efficient development of model transformations is desired to standardize the design process and reuse developed transformations. To this end, future studies will be carried out to develop guidelines for model and tool integration and to provide support for structured information at both meta level and instance level. Keywords Language Model integration, Model transformation, Tool integration, Model based English development, Embedded Systems Acknowledgement This work is realized at RTC group in Department of Machine Design. I would first like to express my appreciation to Professor Martin Törngren for introducing me into such a fantastic research field and being my supervisor. Also I would like to thank him and my co-supervisor Dr. DeJiu Chen for the indispensable guidance, endless inspirations, valuable encouragements and practical support. Without their help, this thesis won’t be finished on time. Also thank Martin for leading the physical exercises – the badminton time. I would like to thank my previous co-supervisor Ola Redell for those fruitful advices and instructions. Thanks also go to all members of the research group, current and old, for providing a pleasant environment and the collaboration. Also my thoughts go to all at the department, the administration team, the IT team and the workshop team. I would also like to thank the SSF (through the SAVE and SAVE++ projects), the Swedish Governmental Agency for Innovation Systems, i.e., VINNOVA (through the Modcomp project), and the European Commission (through the ATESST project) for supporting my work. Finally I would like to thank my wife, Yu Wang for the understanding and support in my work! Regards are also given to my parents who are always supporting me. Thank you all! Stockholm, 30 November 2007 Jianlin Shi -I- -II- List of Appended Publications Paper A: J. Shi, M. Törngren, D. Servat, C.J. Sjöstedt, D. Chen, and H. Lönn, "Combined Usage of UML and Simulink in the Design of Embedded Systems: Investigating Scenarios and Structural and Behavioural Mapping". On the 4th workshop of "Object- oriented Modeling of Embedded Real-time Systems", Paderborn, Germany, Oct. 2007 The work presented was a result of collaboration between the authors. Jianlin Shi conducted the design and tool implementation. Martin Törngren provided advice on many concepts and the writing. David Servat provided input on UML2 behaviour concepts. Other authors also assisted in discussing and provided input on the conceptual mapping. Report B: J. Shi, D. Chen, and M. Törngren, “Case Studies on integrating Simulink, UML and Safety Analysis through Model Transformations”, Technical report, TRITA-MMK 2007:12, ISSN 1400-1179, ISRN/KTH/MMK/R-07/12-SE The tool and algorithms presented are implemented by Jianlin Shi. Dejiu Chen performed the error modelling and assisted in writing. The design of the transformations was carried out in close cooperation between the authors. -III- Other Publications • J. Shi and M. Törngren, An Overview of UML2.0 and Brief Assessment from the Viewpoint of Embedded Control Systems Development, TRITA-MMK 2005:11, ISSN 1400-1179, ISRN/KTH/MMK/R-05/11-SE, 2005 • D. Chen, M. Törngren, J. Shi, S. Gerard, H. Lönn, D. Servat, M. Strömberg, and K.E. Årzen, Model Integration in the Development of Embedded Control Systems - A Characterization of Current Research Efforts. IEEE International Symposium on Computer-Aided Control Systems Design (2006 CCA/CACSD/ISIC), Munich, Germany. 4-6, Oct. 2006. • J. Shi and M. Törngren, A Brief Evaluation and Overview of UML2.0 from the Viewpoint of Embedded Control Systems, 8th Real-time in Sweden 2005-RTiS conference, Skövde, Sweden. Aug. 2005. • J. Shi, M. Törngren, J. El-khoury, and O. Redell, “Model and tool integration in embedded system development – a survey of state of the art”, Technical report, TRITA-MMK 2007:11, ISSN 1400-1179, ISRN/KTH/MMK/R-07/11-SE, 2007 -IV- Table of Content Acknowledgement ..........................................................................................................I List of Appended Publications.....................................................................................III Other Publications........................................................................................................IV Table of Content ............................................................................................................1 Abbreviations.................................................................................................................3 1 Introduction............................................................................................................5 1.1 Background....................................................................................................5 1.2 Outline of the thesis .......................................................................................6 1.3 Basic concepts definition ...............................................................................6 2 Problem Formulation .............................................................................................9 2.1 System integration: interpretations, purposes and solutions..........................9 2.2 Delimitations................................................................................................11 2.3 Requirements and challenges.......................................................................13 3 Research goals, questions and approaches...........................................................15 3.1 Aim and purpose..........................................................................................15