1. January 23 rd, 2003 The Time-Triggered Architecture Krishnakumar B kitty@dre.vanderbilt.edu Institute for Software Integrated Systems Vanderbilt University, Nashville, TN

2. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 2 Outline of Talk Overview of TTA Architecture Model Design Principles Communication Fault Tolerance Design Methodology Questions ?

3. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 3 Time-Triggered Architecture Treatment of physical time as a first-order quantity Provides fault-tolerant global time base Decomposes a large application into: –Clusters –Nodes –Combination of both Use global time to specify interfaces between nodes Communication and agreement protocols

4. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 4 Model of Time Time progresses along a dense timeline Duration – Interval delimited by two instants Event occurs at an instant –E.g. Observation of state Time-stamping –Assign state of node-local global time to event How to synchronize clocks ?

5. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 5 Sparse Time Base Continuum of time is partitioned Infinite sequence of alternating durations of activity & silence Duration of the activity interval > precision of clock synchronization All events that occur within an interval of activity considered simultaneous External representation of time

6. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 6 RT Entities and RT Images TTA system –Node, Communication Network Interface, Host –Time domain and value domain

7. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 7 RT Entities and RT Images (Contd…) Real-Time Entities –State variables used to model dynamics of system –Change their state as time progresses –Mix of both static and dynamic attributes –E.g Flow of a liquid in a pipe, Temperature of valve Observation –State of RT Entity at a particular instant t obs –Observation = Real-Time Image –Temporally accurate picture of RT entity at instant t –Duration b/w time of observation and instant t < d acc Observation valid forever, not true of validity of image

8. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 8 State-Information vs Event-Information State attribute –Property of a RT entity at a particular instant State Information –(state variable, value, time of observation) –Idempotent, atleast-once semantics –Sender-side – Not consumed –Receiver-side – Update-in-place, non-consuming read Event –Sudden change of state of an RT Entity at an instant Event Information –(state variable, value difference, time of event) –Exactly-once semantics –Sender-side – Consumed on sending –Receiver-side – Queued and consumed on reading

9. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 9 Structure of TTA Node –Self-contained unit Communication system –Replicated channels –Autonomous –Executes periodically –a priori TDMA schedule Fetch Instant –Reads state message from CNI Delivery instant –Delivers it to CNI of all other nodes of cluster –Overwriting previous version of state message Fetch, delivery instants in message scheduling table

10. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 10 Interconnection topology TTA-bus –Replicated passive buses –Each node has 3 subsystems Node, 2 guardians Spatial proximity faults Fail-safe vs fail-operational TTA-star –Independent guardians –n+2 packages vs 3n –Reshape physical signals & resilient to Slightly-off- specification (SOS) faults –Additional monitoring, better EMI characteristics

11. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 11 Design Principles of TTA Consistent Distributed Computing Base Unification of Interfaces – Temporal Firewalls Composability Scalability Transparent Fault Tolerance Openness

12. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 12 Consistent Distributed Computing Base Distributed algorithms dependent on consistent data TTA exploits short error detection latency of protocol –Error-detection at protocol level –Distributed agreement (membership) algorithm Checking membership of all nodes to ascertain correct operation Detect faulty outgoing link Violation of fault-hypothesis –Distributed agreement protocol unable to reach conclusion –Result: Clique avoidance algorithm is activated

13. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 13 Unification of Interfaces – Temporal Firewalls Uni-directional data-flow interfaces –Elementary – Uni-directional control flow –Composite – Bi-directional control flow TTA CNI is an elementary interface Control-error propagation prevented by design Interface called temporal firewall

14. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 14 Different Interfaces of a Node Real-Time Service (RS) Interface –Provides timely real-time services to node environment –Must satisfy temporal specification under all conditions –Affects temporal composability Diagnostic & Maintenance (DM) Interface –Opens channel to internals of a node –Useful in configuring node parameters –Retrieve node parameters for fault diagnosis –Doesn’t affect temporal composability Configuration Planning (CP) Interface –Connect node to other nodes of a system –Used during integration phase to generate “glue” –Not time critical

15. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 15 Composability Independent development of nodes –Differentiate between node and architecture design –Precise specification of all node services => independent design of nodes Stability of Prior services –Validated service of a node should be unaffected by integration of node into a system Constructive Integration –n nodes already integrated => addition of n+1 doesn’t affect previous n nodes Replica determinism –All members have same externally visibile state –Produce same output messages atmost d time units apart

16. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 16 Scalability Complexity of system should not increase with growth of system In TTA, CNIs provides abstraction –Encapsulate properties of environment –Only essential properties available to nodes Example - Gateway nodes

17. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 17 Transparent Fault-Tolerance Active redundancy by replication and voting Active replication is complex –Shouldn’t be done at application level TTA provides dedicated Fault-Tolerance layer –Fault-tolerant CNI (FTU-CNI)

18. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 18 Openness Standardize interfaces TTA interfaces submitted for standardization by OMG Inter-operation with CORBA clients RS, DM and CP interfaces available at the ORB level

19. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 19 Communication Deliver information between CNIs –Within interval delimited by fetch and delivery instants TTP/C Protocol –Autonomous, fault-tolerant, TDMA based transport –Fault-tolerant clock synchronization –Membership service Inform every node about “health” of every other node Doubles as multicast acknowledgment Used in implementing fault-tolerant clock synchronization –Clique avoidance to detect and eliminate the formation of cliques when fault-hypothesis is violated

20. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 20 Communication (contd…) TTP/A protocol –Time-triggered field-bus protocol of TTA –Connects low-cost smart transducers to a node of TTA –Two types of rounds – Master/Slave (MS) & Multi-partner (MP) MS – Read/write records from IFS to implement DM and CP MP – Periodic, implements the RS service

21. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 21 Event Message Channels & Performance Event message channels –Created by allocating portion of TT communication –Push-pull model for events –Filter service & Garbage collection service Performance of TTA –Time distribution needs inter-frame gap of 5 μs –80% bandwidth utilization => 20 μs for send-phase –40,000 messages / second –10 clients => 250 μs sampling period => 4kHz loop –Amount of data 5 Mbps => 12 bytes / 20 μs 1 Gbps => 2400 bytes / 20 μs

22. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 22 Fault Tolerance Fault Hypothesis –States types and number of faults that the system should tolerate TTA-star cluster –Can tolerate an arbitrary failure of a single node –Single faulty unit detected by membership protocol –Isolated within two rounds (for single fault) Fault-tolerant Units – Triple Modular redundancy

23. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 23 Fault Tolerance (contd…) Till now assumed that environment complies with fault-hypothesis If environment violates fault hypothesis –TTA activates never-give-up strategy –Initiated by TTP/C protocol in combination with application –Only when necessary resources are unavailable to provide minimum required service Redundant transducers –Requires two independent TTP/A field buses

24. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 24 Design Methodology Architecture Design –Decompose into clusters and nodes –Can use top-down or bottom-up –Specify CNIs of nodes in both the temporal & value domains Node design –Delivery and fetch instants Used as pre-condition and post-condition by applications Validation –Formal methods for consistent distributed computing base algorithms –Reproducable, observed without probe effect, DM interface

25. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 25 Concluding Remarks Autonomous clusters and nodes Global time used to specify interfaces among nodes Two-phased design –Architecture and Component (Node) design Take advantage of global time Currently occupies a niche position –Time considered a nuisance in mainstream computing Real-Time is an integral part of real-world –Cannot be abstracted away

26. Krishnakumar B The Time-Triggered Architecture ISIS, Vanderbilt University 26 Questions ?