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Geir Kjetil Hanssen Tor Stålhane Thor Myklebust SafeScrum® – Agile Development of Safety-Critical Software ® – SafeScrum Agile Development of Safety-Critical Software (cid:129) (cid:129) Geir Kjetil Hanssen Tor Stålhane Thor Myklebust ® – SafeScrum Agile Development of Safety-Critical Software GeirKjetilHanssen TorStålhane SoftwareEngineering,Safety NTNU andSecurity Trondheim,Norway SINTEFDigital Trondheim,Norway ThorMyklebust SoftwareEngineering,Safety andSecurity SINTEFDigital Trondheim,Norway ISBN978-3-319-99333-1 ISBN978-3-319-99334-8 (eBook) https://doi.org/10.1007/978-3-319-99334-8 LibraryofCongressControlNumber:2018954543 ©SpringerNatureSwitzerlandAG2018 Thisworkissubjecttocopyright.AllrightsarereservedbythePublisher,whetherthewholeorpartofthe materialisconcerned,specificallytherightsoftranslation,reprinting,reuseofillustrations,recitation, broadcasting,reproductiononmicrofilmsorinanyotherphysicalway,andtransmissionorinformation storageandretrieval,electronicadaptation,computersoftware,orbysimilarordissimilarmethodology nowknownorhereafterdeveloped. Theuseofgeneraldescriptivenames,registerednames,trademarks,servicemarks,etc.inthispublication doesnotimply,evenintheabsenceofaspecificstatement,thatsuchnamesareexemptfromtherelevant protectivelawsandregulationsandthereforefreeforgeneraluse. The publisher, the authors and the editors are safe to assume that the advice and information in this bookarebelievedtobetrueandaccurateatthedateofpublication.Neitherthepublishernortheauthorsor theeditorsgiveawarranty,expressorimplied,withrespecttothematerialcontainedhereinorforany errorsoromissionsthatmayhavebeenmade.Thepublisherremainsneutralwithregardtojurisdictional claimsinpublishedmapsandinstitutionalaffiliations. ThisSpringerimprintispublishedbytheregisteredcompanySpringerNatureSwitzerlandAG Theregisteredcompanyaddressis:Gewerbestrasse11,6330Cham,Switzerland Preface This book addresses the development of safety-critical software and proposes the SafeScrum®methodology.SafeScrum®is—asthenameindicates—inspiredbythe agile method Scrum, which is extensively used in large parts of the software industry. Scrum is, however, not intended or made for safety-critical systems, hencewehaveproposedguidelinesandadditionstomakeitbothpracticallyuseful andcompliantwiththeadditionalrequirementsfoundinmandatorysafetystandards. We have specifically addressed the generic IEC 61508:2010 standard, part 3 (the software part), but this book will also apply to other, related domain-specific ® standards. Just like Scrum, SafeScrum is tobe considered a framework and not a fully detailed process suitable for all projects. This means that each case needs to consider adaptations of the framework to make it work optimally. The ideas and descriptions in this book are based on collaboration with industry, through discus- sionswithassessmentorganizations,generaldiscussionswithintheresearchfieldsof safety and software, but also on the authors’ own judgements and ideas. Hence, ® SafeScrum and this book do notnecessarily represent the view or liability of any specificorganizationorindividual. Safety-critical systems are increasingly based on software, while established practice is often directed towards design and development of mainly hardware- based systems. While hardware-based systems call for a high level of details early in development since hardware is costly to alter, software can be managed more flexiblythroughout development. Thiscalls for new ideas onhow softwareshould be developed efficiently and how compliance with safety standards should be managed; we believe that agile methods will offer new opportunities to a domain facingnewchallenges. Thisbookprovidesbasicknowledgeonsafety-criticalsystemswithanemphasison software. It provides an overview of agile software development, and how it may be related to safety, and it explains how to interpret and relate to safety standards. SafeScrum® is described in detail as a useful approach to gain the benefits of agile methods and is indented as a set of ideas and a basis for adaptation and adoption in industryprojects.Thiscoversroles,processesandprocessartefacts,anddocumentation. v vi Preface Welookintohowstandardsoftwareprocesstoolsmaybetakenintouse.Weprovide insights into some relevant research in this new and emerging field and also provide somereal-worldexamples. Trondheim,Norway GeirKjetilHanssen June2018 TorStålhane ThorMyklebust Acknowledgements We would like to thank the Research Council of Norway for co-funding the work leadingtothisbook,throughtheSUSSresearchproject(#228431SmidigUtvikling av Sikkerhetskritisk Software—Agile Development of Safetycritical Software). In collaboration with theauthors, BørgeHaugset hascontributed with developing the ® SafeScrum idea,andinparticularwithChap.10.Wewouldalsoliketothankour project partners, Autronica Fire & Security and Kongsberg Maritime, that have ® contributed considerably to the shaping of SafeScrum . We also want to thank several assessment organizations for taking part in discussions, in particular on howtointerprettheIEC61508:2010requirementsandguidelines.TheInternational Electrotechnical Commission (IEC) has granted us re-print of important tables and details from the IEC 61508:2010 standard. Finally—and in particular—we are grateful for the support and valuable contributions by Ingar Kulbrandstad, Frank Aakvik,Jan-ArneEriksen,OmmundØgaard,ErikKorssjøenandLarsMeskestad. vii Contents 1 WhyandHowYouShouldReadThisBook. . . . . . . . . . . . . . . . . . 1 1.1 TheStartingPoint. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1 1.2 WhyAgileSoftwareDevelopment?. . . . . . . . . . . . . . . . . . . . . . 2 1.3 WhyShouldtheIndustryConsiderAgileMethods?. . . . . . . . . . 3 1.4 WhatDoWeHavetoOffer?. . . . . . . . . . . . . . . . . . . . . . . . . . . 5 1.5 DoesItWork?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6 1.6 AWarning. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8 1.7 CooperationwithTwoTÜVCertificationBodies. . . . . . . . . . . . 8 1.8 WhatNext?. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 9 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10 2 WhatIsAgileSoftwareDevelopment:AShortIntroduction. . . . . . 11 2.1 AgilityandSafety. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.2 AgileandScruminaNutshell. . . . . . . . . . . . . . . . . . . . . . . . . . 11 2.3 ScrumandXPConcepts. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13 2.4 ScrumRoles. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14 2.5 IterativeandIncrementalDevelopment. . . . . . . . . . . . . . . . . . . . 15 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15 3 WhatIsSafety-CriticalSoftware?. . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.1 IEC61508:2010. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17 3.2 OnSafety-CriticalSystems. . . . . . . . . . . . . . . . . . . . . . . . . . . . 18 3.3 RAMSinIEC61508:2010. . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 3.4 Security. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23 3.5 Testing. . . . . .. . . . . . . . .. . . . . . . . .. . . . . . . .. . . . . . . . .. . 25 3.6 SafetyandResilience. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.6.1 WhatIsResilience?. . . . . . . . . . . . . . . . . . . . . . . . . . . 27 3.6.2 AResilientDevelopmentProcess. . . . . . . . . . . . . . . . . 28 3.6.3 AResilientOrganization. . . . . . . . . . . . . . . . . . . . . . . 29 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29 ix x Contents 4 PlacingAgileinaSafetyContext. .. . . .. . . .. . . .. . . .. . . .. . . .. 31 4.1 TheBigPicture. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 31 4.2 Prioritizing. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38 4.3 DevelopmentofSafety-CriticalSoftware. . . . . . . . . . . . . . . . . . 39 4.4 TheRoleofSafetyCulture. . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.4.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 4.4.2 WhatIsaSafetyCulture. . . . . . . . . . . . . . . . . . . . . . . . 41 4.4.3 HowtoBuildandSustainaSafetyCulture. . . . . . . . . . 42 4.4.4 ASiteSafetyIndex. . . . . . . . . . . . . . . . . . . . . . . . . . . 43 4.5 InformationItems. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44 ® 4.6 PreparingforSafeScrum . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53 4.6.1 WhatShouldBeDone. . . . . . . . . . . . . . . . . . . . . . . . . 53 ® 4.6.2 IntroducingSafeScrum . . . . . . . . . . . . . . . . . . . . . . . . 53 4.6.3 SystemArchitecture. . . . . . . . . . . . . . . . . . . . . . . . . . . 55 4.6.4 UMLinSafety-CriticalSoftware:TwoExamples. . . . . . 56 4.6.5 CodingStandardsandQualityMetrics. . . . . . . . . . . . . . 59 4.6.6 ConfigurationManagement(CM). . . . . . . . . . . . . . . . . 60 ® 4.6.7 SynchronizingSafeScrum andaStage-Gate Process. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64 5 StandardsandCertification. . .. . . .. . . . .. . . .. . . . .. . . .. . . . .. 65 5.1 TheRoleandImportanceofStandards. . . . . . . . . . . . . . . . . . . . 65 5.2 WhattheStandardsareNotAbout. . . . . . . . . . . . . . . . . . . . . . . 66 5.3 TheProcessofProductCertification. .. . . . . . . . .. . . . . . . . .. . 67 5.4 OnStandardsforSafety-CriticalSoftware. . . . . . . . . . . . . . . . . 67 5.5 DevelopmentChallengesRelatedtoSafetyStandards. . . . . . . . . 69 5.6 TheDevelopers’Responsibility. . . . . . . . . . . . . . . . . . . . . . . . . 72 5.7 TheAssessor’sResponsibility. . . . . . . . . . . . . . . . . . . . . . . . . . 73 5.8 TheDevelopmentOrganization’sResponsibility. . . . . . . . . . . . . 73 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74 ® 6 TheSafeScrum Process. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 ® 6.1 SafeScrum inPerspective. . . . . . . . . . . . . . . . . . . . . . . . . . . . 75 6.2 AnIterativeandIncrementalProcess. . . . . . . . . . . . . . . . . . . . . 77 ® 6.3 SafeScrum andAssociatedRoles. . . . . . . . . . . . . . . . . . . . . . . 77 ® 6.4 FundamentalSafeScrum Concepts. . . . . . . . . . . . . . . . . . . . . . 82 ® 6.5 PreparingaSafeScrum DevelopmentProject. . . . . . . . . . . . . . 84 6.5.1 CreateInitialDocumentationandPlans. . . . . . . . . . . . . 84 6.5.2 CreatingtheInitialProductBacklog. . . . . . . . . . . . . . . 88 6.5.3 UserandSafetyStories. . . . . . . . . . . . . . . . . . . . . . . . 91 6.5.4 SettingUptheTeamandFacilities. . . . . . . . . . . . . . . . 93 ® 6.6 SafeScrum KeyProcessElements. . . . . . . . . . . . . . . . . . . . . . 94 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95 Contents xi ® 7 TheSafeScrum Process:Activities. . . . . . . . . . . . . . . . . . . . .. . . . 97 7.1 SprintPlanningMeeting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97 7.1.1 DefiningtheSprintGoal. . . . . . . . . . . . . . . . . . . . . . . . 98 7.1.2 ClarifyingTeamandCommitmentfortheSprint. . . . . . 98 7.1.3 CreatingtheSprintBacklog. . . . . . . . . . . . . . . . . . . . . 98 7.2 SprintWorkflow. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 7.2.1 ResolvingStories. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99 7.2.2 PeerReviewofCode(PullRequest). . . . . . . . . . . . . . . 99 7.2.3 QualityAssuranceoftheCode. . . . . . . . . . . . . . . . . . . 99 7.3 SprintReviewMeeting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 7.4 SprintRetrospective. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101 7.5 TheDailyStand-Up. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102 7.6 BacklogRefinementMeeting. . . . . . . . . . . . . . . . . . . . . . . . . . . 103 7.7 AdditionalQualityAssurance. . . . . . . . . . . . . . . . . . . . . . . . . . 103 7.7.1 CodingStandardandQualityMetrics. . . . . . . . . . . . . . 104 7.7.2 CodeDocumentationCoverage. . . . . . . . . . . . . . . . . . . 106 7.7.3 UnitTestCoverage. . . . . . . . . . . . . . . . . . . . . . . . . . . 107 References. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 ® 8 SafeScrum AdditionalElements. . . . . . . . . . . . . . . . . . . . . . . . . . 109 8.1 Traceability. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 8.2 ChangeImpactAnalysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 8.2.1 Introduction. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 8.2.2 RequirementChanges. .. . . . . . . . . . .. . . . . . . . . . .. . 112 8.2.3 DesignandCodeChanges. . . . . . . . . . . . . . . . . . . . . . 112 8.2.4 MinorSafetyIssues. . . . . . . . . . . . . . . . . . . . . . . . . . . 113 8.2.5 MajorSafetyIssues. . . . . . . . . . . . . . . . . . . . . . . . . . . 114 8.3 Testing. . . . . .. . . . . . . . .. . . . . . . . .. . . . . . . .. . . . . . . . .. . 115 8.3.1 ClassesofTests. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.3.2 UnitTesting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115 8.3.3 SoftwareIntegrationTesting. . . . . . . . . . . . . . . . . . . . . 117 8.3.4 SoftwareModuleTesting. . . . . . . . . . . . . . . . . . . . . . . 118 8.3.5 SafetyTesting. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 8.3.6 Back-to-BackTesting. . . . . . . . . . . . . . . . . . . . . . . . . . 121 8.4 SafetyEngineering. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 8.4.1 SafetyAnalysis. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 8.4.2 AgileHazardLog. . . . . . . . . . . . . . . . . . . . . . . . . . . . 123 8.4.3 AgileSafetyCases. . . . . . . . . . . . . . . . . . . . . . . . . . . . 126 8.4.4 ConstructingSafetyCases. . . . . . . . . . . . . . . . . . . . . . 128 8.5 ManagingReleases. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 8.5.1 Introductions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 8.5.2 InternalReleases. . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132

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