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CSK SYSTEMS CORPORATION VDMTools Development Guidelines for Real-Time Systems Using VDMTools ver.1.0 beta
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How to contact CSK SYSTEMS CORPORATION: http://www.csk.com/systems Web @ [email protected] General information Development Guidelines for Real-Time Systems Using VDMTools 1.0 beta — Revised for VDMTools v8.2 beta of VDMTools VICE version c COPYRIGHT 2009 by CSK SYSTEMS CORPORATION The software described in this document is furnished under a license agreement. The soft- ware may be used or copied only under the terms of the license agreement. This document is subject to change without notice
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Development Guidelines for Real-Time Systems Using VDMTools Contents 1 Introduction 3 1.1 Characteristics of Reactive Real-Time Systems . . . . . . . . . . 3 1.1.1 Challenges of Reactive Systems . . . . . . . . . . . . . . . . . . 4 1.1.2 Challenges of Concurrency . . . . . . . . . . . . . . . . . . . . 4 1.1.3 Challenges of Real-Time . . . . . . . . . . . . . . . . . . . . . 4 1.1.4 Challenges of Distribution . . . . . . . . . . . . . . . . . . . . . 5 1.2 Overview of VDM++ and VDMTools . . . . . . . . . . . . . . . 5 1.2.1 Threads . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.2.2 Duration and Cycles Statements . . . . . . . . . . . . . . . . . . 8 1.2.3 The System and the Environment . . . . . . . . . . . . . . . . . 9 1.2.4 Deployments . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.3 Timing Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 1.4 Structure of document . . . . . . . . . . . . . . . . . . . . . . . . 13 2 Development Process For Real-Time Systems 14 2.1 Requirements Capture . . . . . . . . . . . . . . . . . . . . . . . 15 2.1.1 Capturing Requirements with UML Use Cases . . . . . . . . . . 16 2.1.2 Capturing Requirements Using VDM-SL . . . . . . . . . . . . . 19 2.1.3 Validating Requirements Capturing . . . . . . . . . . . . . . . . 20 2.1.4 Criteria for Completion . . . . . . . . . . . . . . . . . . . . . . 21 2.2 Sequential Design Model . . . . . . . . . . . . . . . . . . . . . . 21 2.2.1 If UML Was Used For Requirements Capture . . . . . . . . . . 22 2.2.2 When VDM-SL was used for Requirements Capturing . . . . . . 23 2.2.3 Class Descriptions in VDM++ . . . . . . . . . . . . . . . . . . 24 2.2.4 Modelling of Environment . . . . . . . . . . . . . . . . . . . . . 24 2.2.5 Typical Design Structure . . . . . . . . . . . . . . . . . . . . . 24 2.2.6 Validation of the Model . . . . . . . . . . . . . . . . . . . . . . 26 2.2.7 Criteria for Completion . . . . . . . . . . . . . . . . . . . . . . 26 2.3 Concurrent VDM++ Design Model . . . . . . . . . . . . . . . . . 27 2.3.1 Identification of Threads . . . . . . . . . . . . . . . . . . . . . . 27 2.3.2 Communication . . . . . . . . . . . . . . . . . . . . . . . . . . 27 i
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Development Guidelines for Real-Time Systems Using VDMTools 2.3.3 Synchronization Points . . . . . . . . . . . . . . . . . . . . . . 27 2.3.4 Validation of the Model . . . . . . . . . . . . . . . . . . . . . . 27 2.3.5 Typical Design Structure . . . . . . . . . . . . . . . . . . . . . 28 2.3.6 Criteria for Completion . . . . . . . . . . . . . . . . . . . . . . 28 2.4 Concurrent Real-Time and Distributed VDM++ Design Model . . 29 2.4.1 Default Duration Information . . . . . . . . . . . . . . . . . . . 29 2.4.2 Duration and Cycle Statements . . . . . . . . . . . . . . . . . . 29 2.4.3 Task Switching Overhead . . . . . . . . . . . . . . . . . . . . . 30 2.4.4 Typical Design Structure . . . . . . . . . . . . . . . . . . . . . 30 2.4.5 Validation of the Model . . . . . . . . . . . . . . . . . . . . . . 31 2.4.6 Timing Analysis . . . . . . . . . . . . . . . . . . . . . . . . . . 31 2.4.7 Criteria for Completion . . . . . . . . . . . . . . . . . . . . . . 32 2.5 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . 32 2.6 The Different Test Phases . . . . . . . . . . . . . . . . . . . . . . 33 2.7 Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34 3 Example Development 35 3.1 The Counter Measures System . . . . . . . . . . . . . . . . . . . 35 3.2 UML Use Cases for Requirements Capture . . . . . . . . . . . . 37 3.2.1 Deploy Counter-measures . . . . . . . . . . . . . . . . . . . . . 37 3.2.2 Detect Missile and Select Dispenser . . . . . . . . . . . . . . . . 39 3.2.3 Select Sequence and Fire Flares . . . . . . . . . . . . . . . . . . 40 3.2.4 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 3.3 VDM-SL for Requirements Capture . . . . . . . . . . . . . . . . 41 3.3.1 Definition of Types . . . . . . . . . . . . . . . . . . . . . . . . 41 3.3.2 Value Definitions . . . . . . . . . . . . . . . . . . . . . . . . . 43 3.3.3 The Counter Measures Functionality . . . . . . . . . . . . . . . 44 3.3.4 Validation of the Model . . . . . . . . . . . . . . . . . . . . . . 47 3.3.5 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48 3.4 VDM++ Class Skeletons . . . . . . . . . . . . . . . . . . . . . . 48 3.5 Sequential VDM++ Design Model . . . . . . . . . . . . . . . . . 49 3.5.1 The Counter Measures Class . . . . . . . . . . . . . . . . . . . 50 3.5.2 The World Class . . . . . . . . . . . . . . . . . . . . . . . . . . 53 3.5.3 The Global Class . . . . . . . . . . . . . . . . . . . . . . . . . . 54 3.5.4 The Environment Class . . . . . . . . . . . . . . . . . . . . . . 56 3.5.5 The Sensor Class . . . . . . . . . . . . . . . . . . . . . . . . . . 59 3.5.6 The Missile Detector Class . . . . . . . . . . . . . . . . . . . . 60 3.5.7 The Flare Controller Class . . . . . . . . . . . . . . . . . . . . . 62 3.5.8 The Flare Dispenser Class . . . . . . . . . . . . . . . . . . . . . 64 3.5.9 The Timer Class . . . . . . . . . . . . . . . . . . . . . . . . . . 68 3.5.10 The IO Class . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 ii
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Development Guidelines for Real-Time Systems Using VDMTools 3.5.11 Validation of the Model . . . . . . . . . . . . . . . . . . . . . . 70 3.5.12 Summary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70 3.6
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