Table Of ContentModeling and Analysis of
Front-matter
Real-Time and
Embedded Systems with
UML and MARTE
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Modeling and Analysis of
Real-Time and
Embedded Systems with
UML and MARTE
Developing Cyber-Physical Systems
Bran Selic´
Sébastien Gérard
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Library of Congress Cataloging-in-Publication Data
Selic´, Bran.
Modeling and analysis of real-time and embedded systems with UML and MARTE: developing cyber-physical
systems / Bran Selic´, Sébastien Gérard.
pages cm
Includes bibliographical references and index.
ISBN 978-0-12-416619-6 (alk. paper)
1. Embedded computer systems—Computer simulation. 2. UML (Computer science) I. Gérard, Sébastien.
II. Title.
TK7895.E42S3985 2014
006.2'2—dc23 2013027695
British Library Cataloguing-in-Publication Data
A catalogue record for this book is available from the British Library
ISBN: 978-0-12-416619-6
Printed and bound in the United States of America
14 15 16 17 18 10 9 8 7 6 5 4 3 2 1
For information on all MK publications visit our website at www.mkp.com
To Lillian, Andrew, Matthew, and Sandy
and
To Marie, Zélie, Nicole, and Jean-Marie
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Contents
Acknowledgments ...............................................................................................................................xiii
Foreword ...............................................................................................................................................xv
Preface ..................................................................................................................................................xix
PART I INTRODUCTION TO MARTE
CHAPTER 1 An Overview of MARTE ������������������������������������������������������������������3
1�1 Introduction ..................................................................................................................3
1�2 Why model? .................................................................................................................4
1�3 A simple example ........................................................................................................5
1�4 What does MARTE add to UML? .............................................................................10
1�5 Conceptual foundations and design principles ..........................................................11
1.5.1 Foundational concepts: Applications, platforms, and deployment ..................12
1.5.2 Foundational concepts (1): Resources, brokers, services, usages ....................13
1.5.3 Foundational concepts (2): Physical data types and values .............................14
1.5.4 Foundational concepts (3): Time and timed behavior .....................................14
1.5.5 Foundational concepts (4): Class/instance unification [Advanced] .................15
1.5.6 Core design principle (1): Support for concern-specific representations
[Advanced] ..................................................................................................... 15
1.5.7 Core design principle (2): Composite stereotypes [Advanced] .......................16
1.5.8 Core design principle (3): Modularity for scalability [Advanced] ..................16
1�6 Standard use cases for MARTE .................................................................................17
1.6.1 Use case (1): Application modeling .................................................................17
1.6.2 Use case (2): Modeling platforms ....................................................................18
1.6.3 Use case (3): Specifying deployment ..............................................................19
1.6.4 Use case (4): Analyze model ...........................................................................19
1.6.5 Use case (5): Create a new analysis profile .....................................................20
1.6.6 Use case (6): Configure product variant ..........................................................21
1.6.7 Use case (7): Extend MARTE .........................................................................22
1�7 Tool support for MARTE ...........................................................................................22
1�8 Summary ....................................................................................................................22
References .........................................................................................................................23
PART II FOUNDATIONS
CHAPTER 2 An Introduction to UML Profiles ���������������������������������������������������27
2�1 Introduction ................................................................................................................27
2�2 The two kinds of profiles ...........................................................................................28
vii
viii Contents
2�3 How profiles work .....................................................................................................30
2.3.1 Metamodels .....................................................................................................30
2.3.2 The stereotype concept ....................................................................................31
2.3.3 First-class language concepts ..........................................................................33
2.3.4 Profile packages ...............................................................................................34
2.3.5 Using stereotypes in models ............................................................................34
2.3.6 Under the hood: How stereotypes are implemented ........................................36
2.3.7 Denotational and annotational properties of stereotypes .................................36
2.3.8 Multibased stereotypes ....................................................................................38
2�4 Conventions related to the use of profiles ..................................................................39
2.4.1 Default values of omitted stereotype properties ..............................................39
2.4.2 Transitivity of class stereotypes to elements representing instances ...............39
2.4.3 Inheritance of stereotype applications .............................................................40
2�5 Model libraries for profiles ........................................................................................41
2�6 Specializing profiles ...................................................................................................41
2�7 Summary ....................................................................................................................41
References .........................................................................................................................43
CHAPTER 3 MARTE Foundations: Specifying Non-functional Properties �����������45
3�1 Introduction ................................................................................................................45
3�2 The modeling of physical data types in MARTE ......................................................47
3�3 How to use the MARTE standard physical types ......................................................51
3.3.1 Time types, time values, and time expressions ................................................51
3�4 Adding new physical data types [Advanced] .............................................................54
3.4.1 Step 1: Defining the physical units and their concrete representation .............55
3.4.2 Step 2: Defining the unit type (Dimension) of the physical type ....................55
3.4.3 Step 3: Defining the new physical type ...........................................................56
3�5 Specifying probabilistic values for physical data types [Advanced] .........................57
3�6 Specifying required and offered values .....................................................................58
3�7 Summary ....................................................................................................................59
References .........................................................................................................................59
CHAPTER 4 MARTE Foundations: Modeling Time and Resources ���������������������61
4�1 Introduction ................................................................................................................61
4�2 Modeling with time and clocks ..................................................................................62
4.2.1 Two alternatives for dealing with time values .................................................62
4.2.2 MARTE models of time ...................................................................................63
4.2.3 Base concepts for explicit reference clock modeling ......................................64
4.2.4 Modeling clocks ...............................................................................................65
4.2.5 The ideal clock .................................................................................................68
4.2.6 Associating behavior with time .......................................................................68
4.2.7 Timed constraints .............................................................................................74
4.2.8 Modeling timers and timeouts .........................................................................77
Contents ix
4�3 Modeling resources ....................................................................................................77
4.3.1 Conceptual framework for representing resources ..........................................78
4.3.2 Modeling resources ..........................................................................................79
4.3.3 Modeling resource services .............................................................................81
4.3.4 Modeling resource usages ................................................................................82
4�4 Summary ....................................................................................................................82
References .........................................................................................................................83
PART III MODELING REAL-TIME SYSTEMS WITH MARTE
CHAPTER 5 Modeling Software Applications ��������������������������������������������������87
5�1 Introduction ................................................................................................................87
5�2 Distinguishing characteristics of “real-time” applications ........................................88
5�3 Application modeling foundations ............................................................................90
5.3.1 Software resources ...........................................................................................90
5.3.2 Software resource services...............................................................................92
5�4 Dealing with concurrency ..........................................................................................93
5.4.1 Modeling concurrent tasks ...............................................................................94
5.4.2 Modeling synchronization mechanisms ........................................................103
5.4.3 Modeling task communications mechanisms ................................................107
5�5 Dealing with timeliness ...........................................................................................111
5.5.1 Modeling clocks and timers via the implicit approach ..................................111
5.5.2 Associating time with services and service invocations [Advanced] ............113
5.5.3 Modeling cyclical behaviors ..........................................................................115
5�6 Dealing with asynchrony and hardware interfacing ................................................117
5.6.1 Modeling interrupt sources and interrupt handling .......................................118
5.6.2 Modeling signal-based notifications ..............................................................120
5�7 Dealing with resource limitations (Specifying platform requirements) ..................121
5�8 Summary ..................................................................................................................123
References .......................................................................................................................123
CHAPTER 6 Modeling Platforms ������������������������������������������������������������������125
6�1 Introduction ..............................................................................................................125
6�2 What is a platform? ..................................................................................................126
6�3 Why model platforms? ............................................................................................127
6�4 MARTE approach to modeling platforms ...............................................................128
6.4.1 Platform modeling—core concepts ...............................................................129
6.4.2 Modeling processing resources ......................................................................130
6.4.3 Modeling storage resources ...........................................................................131
6.4.4 Modeling communications resources ............................................................135
6.4.5 Modeling concurrency resources ...................................................................140
6.4.6 Modeling synchronization resources .............................................................141
