MARTE Tutorial An OMG UML profile to develop Real-Time and Embedded systems - 13th SDL Forum, Sep 2007, Paris
←
→
Page content transcription
If your browser does not render page correctly, please read the page content below
13th SDL Forum, Sep 2007, Paris
www.omgmarte.org
MARTE Tutorial
An OMG UML profile to develop Real-Time and
Embedded systems
Sébastien Demathieu
(sebastien.demathieu@thalesgroup.com)
Thales Research & TechnologyAcknowledgment
www.omgmarte.org
This presentation reuses and extends material prepared by the
ProMARTE partners for the OMG RTESS PTF meeting in San
Diego, on March 28th 2007
The initial presentation (realtime/07-03-14) is available to OMG
members
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
2Modeling Real-Time and
www.omgmarte.org
Embedded systems in UML
UML is emerging as a possible solution to address the Real-Time
and Embedded domain
A large audience in the Software Engineering community
Steady semantic foundations
Extension capabilities through UML profiles (e.g. SysML)
But lacks key notions to fully address RTE specifics (time, resource, scheduling)
Previous attempts to adapt UML to the RTE domain
Academic initiatives (e.g. ACCORD, GASPARD)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Commerical Tools: ARTiSAN, ROSE RT (ROOM), Rhapsody (Real-Time UML)
UML profile for Scheduling, Performance and Time (SPT)
The first OMG adopted specification in this domain
Defines annotation mechanisms to perform quantitative analysis
Required major improvements over time
In 2005, OMG called for a new UML profile for Modeling and Analysis of
Real-Time and Embedded systems (MARTE)
3Introducing MARTE
www.omgmarte.org
“The UML profile for MARTE addresses modeling and analysis of
real-time and embedded systems, including their software and
hardware aspects”
Key features
Provides support for non-functional property modeling
Adds rich time and resource models to UML
Defines concepts for software and hardware platform modeling
Defines concepts for allocation of applications on platforms
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Provides support for quantitative analysis (e.g. scheduling, performance)
Complies with UML 2.1 and other existing OMG standards
Replaces the UML SPT profile 1.1
MARTE specification adopted in June 2007
Alpha document available: http://www.omg.org/cgi-bin/doc?ptc/2007-08-04
Finalization Task Force comment deadline: December 22nd 2007
4The ProMARTE partners
www.omgmarte.org
Tool vendors
ARTiSAN Software Tools*
International Business Machines*
Mentor Graphics Corporation*
Softeam*
Telelogic AB (I-Logix*)
Academics
Tri-Pacific Software
Carleton University
No Magic
Commissariat à l’Energie Atomique
The Mathworks
ESEO
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
ENSIETA
INRIA
Industrial companies
INSA from Lyon
Alcatel*
Software Engineering Institute
France Telecom
(Carnegie Mellon University)
Lockheed Martin*
Universidad de Cantabria
Thales*
* Submitters to the OMG UML for MARTE RFP
5Relationships with other OMG
www.omgmarte.org
standards
Relationships with generic OMG standards « profile »
Marte
« replace » « profile »
SPT
Profiles the UML 2 superstructure meta-model
« uses »
Uses OCL 2 for description of domain constraints
« metamodel »
OCL 2
UML 2 Superstructure (L3)
Relationships with RTE specific OMG standards
The UML profile for Modeling QoS and FT Characteristics and Mechanisms
Addressed through MARTE NFP package
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
The UML profile for SoC
More specific than MARTE purpose
The Real-Time CORBA profile
Real-Time CORBA based architecture can be annotated for analysis with MARTE
The UML profile for Systems Engineering (SysML)
Specialization of SysML allocation concepts and reuse of flow-related concepts
Ongoing discussion to include VSL in next SysML version
Overlap of team members
6Architecture of the MARTE
www.omgmarte.org
specification
Foundations for RT/E systems
modeling and analysis: 6 pkgs
MARTE domain model CoreElements, NFP, Time,
GRM, GCM and Alloc
MarteFoundations
MarteDesignModel MarteAnalysisModel
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Specialization of Foundations for Specialization of Foundations
modeling purpose (specification, for annotating model for
design…): 3 pkgs analysis purpose: 3 pkgs
RTEMoCC, SRM and HRM GQAM, SAM and PAM
7Non-Functional Properties (NFP)
www.omgmarte.org
Formalize a number of ideas existing in SPT and QoS&FT
From the SPT profile
e.g. Tag Value Language (variables, math. expressions) and time-
related values
From the QoS&FT profile
e.g. Property Qualifiers
Add new modeling constructs required for MARTE
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
e.g. tuple and choice values, time expressions and unit
measurements conversion
NFP modeling required general extensions to UML tools
e.g. value expressions editing and data type checking
This is a key feature in DRES modeling that UML lacks
8Organization of NFP constructs
www.omgmarte.org
1) Value Spec. Lang. (VSL) 2) Declaration of NFPs 3) Annotation Mechanism
« modelLibrary »
NFP_Types
VSL Definition
« modelLibrary »
BasicMeasurementUnits « execHost » « execHost »
MasterRTU SlaveRTU
{ procRate=(1.0, @pRm), { procRate=@pRs,
« modelLibrary » clock= (2.0, us) } clock= (2.0, us) }
Basic_NFPTypes
Tagged Values
« NFP_Constraint »
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
« import » « import » « import » {kind=required }
{pRm > 10*pRs}
Abstract Syntax Concrete Syntax Constraints
« profile » « profile » « profile »
Hardware SAM PAM ...
Exact notation for values: To define, qualify measures 1. Tagged values
extended Literals, Intervals, (measurement units, source, 2. Constraints
Tuples, Choices, Variables, statistical nature…) and 3. Direct specification in
Complex and Time organize NFPs UML models by using
Expressions NFP types library
9Examples of textual expressions
www.omgmarte.org
Value Spec. Examples
Real Number 1.2E-3 //scientific notation
DateTime #12/01/06 12:00:00# //calendar date time
Collection {1, 2, 88, 5, 2} //sequence, bag, ordered set..
{{1,2,3}, {3,2}} //collection of collections
Tuple and choice (value=2.0, unit= ms) //duration tuple value
periodic(period=2.0, jitter=3.3) //arrival pattern
Interval [1..251[ //upper closed interval between integers
[@A1..@A2] //interval between variables
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Variable declaration & io@var1 //input/output variable declaration
Call var1 //variable call expression.
Arithmetic Operation +(5.0,var1) //”add” operation on Real datatypes
Call 5.0+var1 //infix operator notation
Conditional (($var1Examples of NFP annotations
www.omgmarte.org
Use of NFPs with stereotypes:
« modelLibrary»
« profile » Basic_NFP_Types
SchedulabilityAnalysisModeling
« import »
« metaclass » UserModelForSchedulabilityAnalysis
UML::InstanceSpecification
« executionHost »
« stereotype»
uC: Controller
ExecutionHost
« apply »
« executionHost »
speedFactor: NFP_Real= ( statisticalQ= percent, direction= increas)
speedFactor= (expr = $MasterRate*0.25 )
contextSwitch: NFP_Duration= (statisticalQ= max)
contextSwitch= (value= 8 , unit= us, source= meas)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Use of NFPs as M1 level properties:
NFP_ExampleWithProperties
Controller uC2: Controller
«nfp» speedFactor: NFP_Real (percent, increas) speedFactor= ($MasterRate*0.25)
«nfp» contextSwitch: NFP_ Duration (max) contextSwitch= ( 8, us, meas)
11Time modeling
www.omgmarte.org
The Time model introduced in MARTE completes the features
provided by the SimpleTime package of UML 2
Basic ideas
Any thing related to time may explicitly refer to a clock
Time is multiform (not limited to “physical” time)
Support distribution, clock uncertainties
Design vs. Runtime clocks
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
What are the domain concepts?
Events → TimedEvent
Behaviors and Actions → TimedProcessing
Constraints → TimedConstraint
Observations → TimedObservation
12Time modeling (cont’d)
www.omgmarte.org
Time Structure
Made of several clocks
Clock
A totally ordered set of instants
Access to instant value and duration with units
Relations on Clocks
Expression → ClockConstraint
Reflect causality (from algorithm and allocations)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
nature
discrete dense Stereotype properties :
Special semantics
isLogical
Logical + optional
true Not used
clock • set of properties
• set of operations
Chronometric clock
false
discrete dense
13Example of a time constraint
www.omgmarte.org
:Pilot :HMI :Supervision :Trajectory : EngineControl
receiveCommand
updateRoute
@start
{on = idealClock} compute
A that
references time observations control
to specify a duration @stop
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
constraint {on = idealClock}
A UML::TimeObservation
(stop – start) < (100, ms)
stereotyped as
{interpretation = duration}
{kind = required}
{on = idealClock} that has a reference to a clock
14General Resource Modeling
www.omgmarte.org
Resource offers Services and may have
NFPs for its definition and usage
GRM
ResourceCore
ResourceTypes ResourceUsages
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
ResourceManagement Scheduling
A rich categorization is provided: Shared resources, scheduling strategies
Storage, Synchronization, Concurrency, and specific usages of resources (like
Communication, Timing, Computing, memory consumption, computing time
and Device Resources may be defined. and energy) may be annotated.
15Example of resource modeling
www.omgmarte.org
{processingRate=1 .0}
{processingRate=1.0 } CAN_Bus {processingRate=0 .6}
NT_Station Controller
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
VME_Bus
{processingRate=8.5}
{elementSize=1024 x1024 x8,
maxRI=256}
{processingRate=1 .0}
Robot Arm
16General Component Model
www.omgmarte.org
Introduced to cope with various component-based models
UML2, SysML, Spirit, AADL, Lightweight-CCM, EAST-ADL2,
Autosar…
Relies mainly on UML structured classes, on top of which a
support for SysML blocks has been added
Atomic and non-atomic flow ports
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Flow properties and flow specifications
But also providing a support for Lightweight-CCM, AADL and
EAST-ADL2, Spirit and Autosar
17Example of component definition
www.omgmarte.org
Atomic flow port typed by a
Classifier
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Complex flow port typed by
Standard UML port typed by a class a flow specification
that uses the LocationAccess interface
18Allocation modeling
www.omgmarte.org
Basic ideas
Allocate an application element to an execution platform element
Refine a general element into specific elements
Inspired by the SysML allocation P1 P2
Unique
Alloc
Can only allocate application to execution platform inpC 4 6 true
Can attach NFP constraints to the allocation outpW 4 true
outpZ 6 true
Example of allocation oper1 10 true
«timedProcessing» oper2 10 8
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
true
Act M1
«allocate» oper1 outW
P1
inpC
«allocate» oper2 outZ
P2
19Architecture of the MARTE
www.omgmarte.org
specification
Foundations for RT/E systems
modeling and analysis: 6 pkgs
MARTE domain model CoreElements, NFP, Time,
GRM, GCM and Alloc
MarteFoundations
MarteDesignModel MarteAnalysisModel
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Specialization of Foundations for Specialization of Foundations
modeling purpose (specification, for annotating model for
design…): 3 pkgs analysis purpose: 3 pkgs
RTEMoCC, SRM and HRM GQAM, SAM and PAM
20RTE Model of Computation and
www.omgmarte.org
Communication
Provides high-level concepts for modeling qualitative real-time
features
Real-Time Unit (RTUnit)
Generalization of the Active Objects of the UML 2
Owns at last one schedulable resource
Resources are managed either statically (pool) or dynamically
May have operational mode description (similar to AADL concept)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Protected Passive Unit (PPUnit)
Generalization of the Passive Objects of the UML2
Requires schedulable resources to be executed
Supports different concurrency policies (e.g. sequential, guarded)
Policies are specified either locally or globally
Execution is either immediateRemote or deferred
21RTE Model of Computation and
www.omgmarte.org
Communication (cont’d)
Provides high-level concepts for modeling quantitative real-time
features
Real-Time Behavior (RtBehavior)
Message Queue size and policy bound to a provided behavior
Real-Time Feature (RTF)
Extends UML Action, Message, Signal, BehavioralFeature
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Relative/absolute/bound deadlines, ready time and miss ratio
Real-Time Connector (RteConnector)
Extends UML Connector
Throughput, transmission mode and max blocking/packet Tx time
22Usage examples of the RTEMoCC
www.omgmarte.org
extensions
CruiseControlSystem
isDynamic = false
« rtUnit » « rtUnit » isMain = false
isMain = true CruiseControler ObstacleDetector poolSize = 10
main = start poolPolicy = create
tgSpeed: Speed startDetection()
stopDetection()
«rtService» {exeKind=deferred} start()
«rtService» {exeKind=deferred} stop()
spm « ppUnit » spm
1 {concPolicy=guarded} 1
Speedometer
« dataType»
getSpeed(): Speed Speed
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
act start
@t0 {kind=startAction}
« rtf »
tgSpeed = spm->getSpeed() occKind = aperiodic ()
value = (tRef=t0, relDl=(10, ms), miss=(1, %, max))
23Outline of the Software Resource
www.omgmarte.org
Model
Concurrent execution contexts:
• Schedulable Resource (Task)
• Memory Partition (Process) Interactions between concurrent contexts:
• Interrupt Resource
• Communication (Data exchange)
• Alarm
Shared data
Message (Message queue)
• Synchronization
Mutual Exclusion (Semaphore)
GRM Notification (Event mechanism)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
SRM « import »
« import » SW_ResourceCore « import »
Hardware and software
« import »
resources brokering:
SW_Concurrency SW_Interaction SW_Brokering • Drivers
• Memory management
24OSEK/VDX modeled with SRM
www.omgmarte.org
A task provides the framework for the execution of functions.
TaskService
priorityElements = priority Task
+terminateTask() : statusType
terminateServices = +activation : UINT32{readOnly} +getTaskID( TaskID : taskRefType ) : statusType
terminateTask +autostart : boolean{readOnly} +declareTask( TaskID : taskType )
+priority : UINT32{readOnly} +getTaskState( TaskID : taskType, State : taskStateRefType ) : statusType
chainTask +chainTask( TaskID : taskType ) : statusType
+schedule : SCHEDULE{readOnly}
activateServices = +activateTask( TaskID : taskType ) : statusType
activateTask +schedule() : statusType
chainTask
+resource
yieldServices = schedule
0..*
Ressource
(OSEK/VDX_Platform.Osek/VDXLibrary.Interaction.InteractionCore)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Basic tasks do not have a waiting state. +event
0..*
Event
BasicTask ExtendedTask (OSEK/VDX_Platform.Osek/VDXLibrary.Interaction.InteractionCore)
Details for the implementation steps
The functions for processing an interrupt (Interrupt Service
(to match an application model to
Routine: ISR) are subdivided into two ISR categories:
Extended tasks are distinguished from basic tasks by being allowed to use the
ISR category 1 : The ISR does not use an operating system service
software execution resources and
ISR category 2 : API calls are allowed is those ISR.
operating system call WaitEvent, which may result in a waiting state. The waiting state
allows the processor to be released and to be reassigned to a lower-priority task
resumeServices = code generation …) without the need to terminate the running extended task.
ResumeAllInterrupts
ResumeOSInterrupts
25SRM Usage example
www.omgmarte.org
Application Model
Robot
Robot Execution Resources Model
+main()
+motionCtrl Osek/VDXLibrary
1 +odometry 1
(OSEK/VDX_Platform)
MotionControler
Odometry
{period = 10}
+UpdatePosition() +robotPosition
1
+ControlLoop()
Position
-x : Integer
-Y : Integer OsekTask OsekInterruptsCategory2 OsekInterruptsCategory1
-position -position
1 +getX() : Integer 1
+getY() : Integer
+setX( X : Integer )
+setY( Y : Integer )
OsekRessource
OsekEvent
OsekAlarm
« entryPoint » « entryPoint » OsekOsControl
OsekHook
RobotInstance OsekDataType
(OSEK/VDX_Platform.Osek/VDXLibrary)
speedy : Robot
odometry = odo
robotPosition = Pos
motionCtrl = mCtrl
MyOsek/VDXImplementation
odo : Odometry mCtrl : MotionControler (OSEK/VDX_Platform)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
position = Pos position = Pos
Pos : Position
MyOsekPeriodicTask
MyOsek/VDXImplementationInstance
(Robot)
main : OsekOsControl
t1Periodic : MyOsekPeriodicTask
t2Periodic : MyOsekPeriodicTask
event = evt1
task = task1 alarm = al2
alarm = al1 event = evt2
r1 : OsekRessource task = task2
al1 : OsekAlarm
al2 : OsekAlarm
evt1 : OsekEvent task1 : OsekTask evt2 : OsekEvent task2 : OsekTask
26Hardware Resource Model
www.omgmarte.org
Logical view (functional modeling)
Provides a description of functional properties
Based on a functional classification of hardware resources:
HwComputing resources
HwStorage resources
HwCommunication resources
HwTiming resources
HwDevice resources
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Physical view
Provides a description of physical properties
Based on both following packages:
HwLayout
HwPower
27HRM usage example: Logical View
www.omgmarte.org
« hwLogical::hwResource»
smp : SMP
« hwProcessor » « hwProcessor » « hwProcessor » « hwProcessor »
cpu1 : CPU cpu2 : CPU cpu3 : CPU cpu4 : CPU
{frequency = 800Mhz} {frequency = 800Mhz} {frequency = 800Mhz} {frequency = 800Mhz}
« hwCache » « hwCache » « hwCache» « hwCache »
l2 : UL2 l2 : UL2 l2 : UL2 l2 : UL2
{memorySize = 512kB} {memorySize = 512kB} {memorySize = 512kB} {memorySize = 512kB}
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
« hwBus »
fsb : FSB
{frequency = 133Mhz,
wordWidth = 128bit}
« hwSupport » « hwDMA» « hwRAM »
battery : Battery dma : DMA sdram : SDRAM
{managedMemories = sdram} {frequency = 266Mhz,
memorySize = 256MB}
28HRM usage example: Physical View
www.omgmarte.org
« hwCard »
smp : SMP
grid = 4,3
area = 5000mm²
r_conditions = (Temperature; Operating; ‘’’’ ; [10°C ,60°C])
« hwChip » « hwChip » « hwCard »
cpu1 : CPU cpu3 : CPU sdram : SDRAM
position = [1,1], [1,1] position = [2,2], [1,1] position = [3,4], [1,1]
staticConsumption = 5W staticConsumption = 5W nbPins = 144
« hwChannel»
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
fsb : FSB
position = [1,4], [2,2]
« hwChip » « hwChip » « hwChip » « hwPowerSupply»
cpu2 : CPU cpu4 : CPU dma : DMA battery : Battery
position = [1,1], [3,3] position = [2,2], [3,3] position = [3,3], [3,3] position = [4,4], [3,3]
staticConsumption = 5W staticConsumption = 5W capacity = 10Wh
weight = 150g
29Architecture of the profile
www.omgmarte.org
Foundations for RT/E systems
modeling and analysis: 6 pkgs
MARTE domain model CoreElements, NFP, Time,
GRM, GCM and Alloc
MarteFoundations
MarteDesignModel MarteAnalysisModel
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Specialization of Foundations for Specialization of Foundations
modeling purpose (specification, for annotating model for
design…): 3 pkgs analysis purpose: 3 pkgs
RTEMoCC, SRM and HRM GQAM, SAM and PAM
30General Quantitative Analysis
www.omgmarte.org
Model
GQAM updates SPT
Alignment on UML2
Harmonization between two SPT subprofiles: sched. and perf.
Extension of timing annotations expressiveness
Overheads (e.g. messages passing)
Response times (e.g. BCET & ACET)
Timing requirements (e.g. miss ratios and max. jitters)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Main concepts common for quantitative analysis
Resources
Behavior
Workload
All embedded in an analysis context (may have analysis
parameters)
31Dependencies and architecture of
www.omgmarte.org
GQAM
Time GenericResourceModel (GRM)
GenericQuantitativeAnalysisModeling (GQAM)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
SchedulabilityAnalysisModeling (SAM) PerformanceAnalysisModeling (PAM)
GQAM
Common concepts to be used by analysis sub-profiles
SAM
Modeling support for schedulability analysis techniques.
PAM
Modeling support for performance analysis techniques.
32Processing schema for model-
www.omgmarte.org
based analysis
UML2 + Marte
Analysis specific
« profile »
framework
MARTE
UML2 editor Analysis model
Model
converter
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Annotated model
Analysis tool
Result/Diagnostic
model Results Analysis results
converter
33Schedulability Analysis Model
www.omgmarte.org
Modeling for analysis techniques taking into account scheduling
aspects
Provides high-level analysis constructs
Sensitivity analysis, parametric analysis
Observers for time constraints and time predictions at analysis context
level
Supports most common sched. analysis techniques
RMA-based, holistic techniques and modular techniques
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
MARTE::SAM
GQAM::
AnalysisContext
SAM_Workload « import » SAM_Resources
1 workloadBehavior
1 resourcesPlatform
GQAM_Workload:: SaAnalysisContext GQAM_Resources::
« import » SAM_Observers WorkloadBehavior ResourcesPlatform
isSchedulable : NFP_Boolean
34Workload Modeling Example
www.omgmarte.org
« workloadBehavior»
Act NormalMode
Workload Behavior
maps to Behavior
{ end2 endD= (5, ms) }
« requestEventStream »
{ type=Pattern,
« end2endFlow »
ControlServos
periodic (period = ( 5, ms)) }
ControlTrigg «behaviorScenario»
{ respTime= (@r1, ms),
EndToEndFlow utilization= @u 1,
(end2end execTime= (@ e1, ms) }
Control
deadlines and
predicted times)
« requestEventStream »
{ end2 endD= (100 , ms) }
{ type=Pattern,
« end2endFlow »
ReportProcess
periodic (period = (100, @pR, ms)) }
ReportTrigg «behaviorScenario»
{ respTime= (@r2, ms),
utilization= @u 2,
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
execTime= (@wcet1, max, ms) }
Event Streams Report
(arrival patterns)
BehaviorScenario
{ en d2end D= (1 , s) }
« requestEventStream » (response times,
ExecuteCommand
{ type=Pattern,
« end2endFlow »
periodic (period = (1, s)) }
hosts utilization…)
ReportTrigg «behaviorScenario»
{ respTime= ( @r3, ms),
utilization= @u3,
execTime= (@ e3, ms) }
Command
35Resources Platform Modeling Example
www.omgmarte.org « resourcesPlatform»
TeleoperatedRobot_Platform
Sched. Resources
« schedulableResource »
« saExecHost »
«allocate» { fp (priority= 22) } (sched.
: Station : DisplayRefresherTask parameters)
Processing Hosts
« schedulableResource »
(exec. and comm. { fp (priority= 24) }
overheads, « saCommHost » «allocate» : MsjStatus
{ transMode = Half-Duplex
throughput, processingRate = (@prCAN) « schedulableResource »
blockingTime= (111, us, max, meas ) «allocate» { fp (priority= 24) }
scheduling packetTime = (64, us, calc) } : MsjCommand
features) : CAN_Bus
« schedulableResource »
{ fp (priority= 30) }
: ServosControllerTask
«allocate»
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
« schedulableResource »
« saExecHost » { fp (priority= 24) }
{ processingRate = (1.0)
clockOverhead = (7, us , meas ) «allocate» : Reporter
contextSwitchTime = (5, us , meas )
ISRswitchT= (2.5, us , meas ) « schedulableResource »
schedPriorityRange = ([0..30], determ ) { fp (priority= 16) }
ISRPrioRange = ([31..31], determ ) } «allocate» : CommandManager
: Controller Schedulers
« schedulableResource »
«allocate» { fp (priority= 31) } (sched.
: ControllerComm parameters)
: VME_Bus
« scheduler »
« saExecHost » { schedPolicy = FixedPriority }
: RobotArm : RTOS_Scheduler
36Sched. Analysis Context Example
www.omgmarte.org
Context under
Analysis
«saAnalysisContext»
{ isSched = (@isSchSys) }
TeleoperatedRobotSAM
«variable» {direction= inout} isSched_System: NFP_ Boolean = isSchSys
Instance of a
«variable» {direction= inout} wcet_Report: NFP_Duration = wcet1
WorkloadBehavior «variable» {direction= inout} procRate_CAN: NFP_Real= prCAN
Context-specific
model «variable» {direction= inout} period _Report: NFP_Duration = pR variables
« workloadBehavior » « resourcesPlatform »
: NormalMode : TeleoperatedRobot_Platform
Simple Sensitivity
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Schedulability Analysis context
Analysis context
«saAnalysisContext» «saAnalysisContext»
Schedulability: TeleoperatedRobotSAM SensitivityAnalysis : TeleoperatedRobotSAM
isSched_System= (true, @v0, calc) isSched_System= (true, req)
wcet_Report= ( 5, ms, determ) wcet_Report= ( 50, @v1, ms, max, calc)
procRate_CAN= (1, determ) procRate_CAN= (0.2, @v2, min, calc)
period _Report= (30 , ms, determ ) period _Report= (10 , @v3, ms, min, calc)
37Performance Analysis Model
www.omgmarte.org
Specializes some GQAM stereotypes and reuses others
Workload
specialized: PaRequestEventStream, PaWorkloadGenerator,
PaEventTrace
Behaviour
reused: BehaviorScenario, AcqStep, RelStep
specialized: PaStep, PaExecStep, PaCommStep, ResPassStep,
RequestedService
Resources
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Reused: ExecHost, CommHost, CommChannel
Specialized: PaProcess
Supports most common performance analysis techniques
Queueing Networks and extensions, Petri Nets, simulation
UML + MARTE models should contain
Structural view: software architecture and deployment
Behavioral view: key performance scenarios
38Example: deployment
www.omgmarte.org
«commHost» «commHost»
internet: lan:
{blockingTime = (100,us)} {blockingTime = (10,us),
capacity = (100,Mb/s)}
«execHost» «execHost» «execHost»
ebHost: webServerHost: dbHost:
{commRcvOverhead = (0.15,ms/KB), {commRcvOverhead = (0.1,ms/KB), {commRcvOverhead = (0.14,ms/KB),
commTxOverhead = (0.1,ms/KB), commTxOverhead = (0.2,ms/KB)} commTxOverhead = (0.07,ms/KB),
maxRI = 5} maxRI = 3}
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
«deploy»
«deploy» «deploy»
«artifact» «artifact» «artifact»
ebA webServerA databaseA
«manifest» «manifest» «manifest»
: EBrowser : WebServer : Database
39Example: simple scenario
www.omgmarte.org
«paProcess» «paProcess»
eb: EBrowser webServer: WebServer database: Database
{maxRI = (webthreads=80), {maxRI = (dbthreads=5),
component = webserver} component = database}
1:
«paExecStep» 2:
«paCommStep» «paExecStep»
«paRequestEventStream» «paCommStep»
{PWorkloadKind = open, {hostDemand = (12.4,ms),
openIntArrTime = exp(17,ms), repetitions = (1.3,-,mean),
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
hostDemand = 4.5,ms, msgSize = (2,KB)}
msgSize = (1,KB)}
3:
4: «paCommStep»
{msgSize = (50,KB)}
«paCommStep»
{msgSize = (75,KB)}
40MARTE Annexes
www.omgmarte.org
Repetitive Structure Modeling
Guidance for use of MARTE
e.g. AADL-like models with MARTE
Value Specification Language (VSL)
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
Clock Handling Facilities
Clock Value Specification Language (CVSL)
Clock Constraint Specification Language (CCSL)
MARTE Library
41AADL-like models with MARTE
www.omgmarte.org
UML + MARTE AADL
« modelLibrary »
NFP_Types Length_Unit : type units ( mm, cm => mm
* 10, m => cm * 100, km => m * 1000 );
« enumeration »
DurationUnitKind OnOff : type aadlboolean ;
«unit» s
«unit» ms {baseUnit=s, convFactor=0.001} Speed_Range : type range of aadlreal 0
«unit» us {baseUnit=ms, convFactor=0.001 }...
.. 250 units ( kph );
« dataType» « dataType»
NFP_DataSize NFP_Duration mass_t: type aadlreal units mass_u;
unit: DataSizeUnitKind unit: DurationUnitKind
mass_u: type units (g, kg => g*1000, t
=> kg*1000);
« import »
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
« profile »
SchedulabilityAnalysisModeling
« metaclass » « metaclass » Wheel_speed : aadlinteger 0 rpm .. 5000
UML::InstanceSpecification UML::Node rpm units ( rpm ) applies to (system);
allowed _mass: mass_range_t applies to
« stereotype» memory, processor , bus, device, system);
ExecutionEngine
speedFactor: NFP_Real= (percent, increas) actual_mass: mass_t applies to (memory,
tickerPeriod: NFP_Duration= ( max, ms) processor , bus, device , system);
priorityRange: NFP_Interval= (determ, decreas )
42Conclusion
www.omgmarte.org
MARTE is the new OMG specification for Modeling and Analysis
Real-Time and Embedded systems
Specification adopted in June 2007
MARTE provides extensions to UML for modeling non-functional
properties, time and resource, software and hardware execution
platforms and allocations
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
MARTE enables model-based quantitative analysis, including
schedulability and performance
A first Eclipse-based open-source implementation is available
Papyrus for MARTE (http://www.papyrusuml.org)
Ongoing discussions to align parts of MARTE and SysML
43References
www.omgmarte.org
OMG MARTE web site
http://www.omgmarte.org
UML profile for MARTE (alpha)
http://www.omg.org/cgi-bin/doc?ptc/2007-08-04
UML profile for MARTE RFP
http://www.omg.org/cgi-bin/doc?realtime/2005-2-6
MARTE Tutorial - 13th SDL Forum, Sep 2007, Paris
UML 2 Superstructure
http://www.omg.org/cgi-bin/doc?formal/07-02-05
44You can also read
