1. UFRGS SIMOO-RT An Integrated Object-Oriented Environment for the Development of Distributed Real-Time Systems L. B. Becker 1, C. E. Pereira 1 1) Instituto de Informática - PPGC - UFRGS 2) Departamento de Engenharia Elétrica - UFRGS

2. UFRGS Presentation Overview Introduction State-of-Art Analysis: OO Modeling Tools The SIMOO-RT Environment Case Study: Liquid-level Control System Conclusions and Future Works

3. UFRGS Introduction Modern industrial automation systems have achieved a high level of complexity Object-orientation has been considered a suitable approach for dealing with such complex real-time applications Development methods and tool support are required

4. UFRGS State-of-Art Analysis: OO Modeling Tools Analysed tools: SIMOO, ObjecTime, Rational Rose Points of interest: –OO modeling support –Simulation/Animation support –High level behavior/temporal specification –RT-distributed code generation –Low-cost tool

5. UFRGS Tools Comparison Items: SIMOO ObjecTime Rational OO Modeling Behavior Specification C++ codeRoomcharts Statecharts Temporal Specification - Timers - Simulation - Visualization/Animation Poor - RT-Code Generation - - Cost (U$)nome 25.000 8.000 Original Code Access free extra cost closed

6. UFRGS SIMOO-RT Environment Tool support for OO modeling, simulation, and implementation Main features: –Object-oriented modeling with real-time constraints (deadlines, cyclic operations) –Behavior description using state-machines and C++ code templates –Simulation/animation capability –Automatic code generation (AO/C++ language)

7. UFRGS SIMOO-RT Model Editing Tool SIMOO-RT State-Transiction Diagram Editor Overview of SIMOO-RT Environment

8. UFRGS SIMOO-RT: Specification of temporal aspects Timed operations (deadline) Default value for the class Handling code Cyclic operations

9. UFRGS Behavior Specification: State-Transition Diagram Editor

10. UFRGS Behavior Specification: State-Transition Diagram Editor

11. UFRGS AO/C++ target language Combines OO properties of C++ with benefits of Unix-RT OS: –maps 'logically distributed' OO model of C++, with 'physically distributed' process-oriented model of Unix-RT Adds primitives to C++ to allow definition of active objects, time-triggered methods, timing constraint specifications (e.g. deadline and its related exception handling code), etc.

12. UFRGS active class Sensor { private: // references to other objects Esteira REF theConveyor; Braco REF theArm;...// other attributes and private operations int status; public: int sensor_ID; void DetectWorkPiece(cycle_t){ begin_cycle // cyclic operation end_cycle } AO/C++ code example

13. UFRGS Runtime Environment AO/C++ programs are parsed and converted to standard C++ with calls to an underlying runtime environment (e.g. QNX, Linux-RT) Special C++ instances allows a transparent remote method invocation of active class methods Adopts a single-thread approach

14. UFRGS SIMOO-RT instance attributes Priority Execution node

15. UFRGS Case Study: Liquid-level Control System

16. UFRGS Simulation model Visualization attribute Simulator class

17. UFRGS Simulation/animation overview

18. UFRGS Implementation: redefinition of original model Interface classes Visualization Classes

19. UFRGS Implementation: code redefinition Simulation code: void Tanque::DesligarBomba(MSGEA m) { Parametros par; m.Set(Id(),bomba,"DESLIGA", NORMAL_PR,par); Send(m); } Aplication code: void Tanque::DesligarBomba() { bomba->Desliga(); }

20. UFRGS Statistics of the case-study Simulation CodeExecution Code ItemsC++/WindowsAO/C++C++/QNX Code lines26907292308 Number of Classes91020 Number of Instances91122 Levels of Inheritance( max =03/ med =02)( max =02/ med =01)( max =03/ med =02) Levels of agregation( max =02/ med =02)( max =02/ med =02)( max =02/ med =02)

21. UFRGS Robotic Manufacturing Cell Distributed Elevator Control Others case-studies developed

22. UFRGS Main feature: integrated environment Integrates SIMOO tool (analysis, simulation) + temporal extentions with AO/C++ distributed execution environment Conclusions SIMOO-RT model and AO/C++ application are strongly coupled: –number AO/C++ code lines is shorter in comparision with C++ simulation/execution code Project mistakes detection become easier through simulation

23. UFRGS Future Work Research others behavior formalism Purpose a methodology to define automatic creation of interface elements Integrate SIMOO-RT code generation with supervisory tools +Different behavior specification is required to avoid discontinuites between models

24. UFRGS Take a look at: Contacts: lbecker@inf.ufrgs.br cpereira@iee.ufrgs.br http://www.inf.ufrgs.br/gpesquisa/simoo