HRT-HOOD: A Structured Design Method for Hard Real-Time Ada Systems (Real-Time Safety Critical Systems)

331 Pages·1991·9.79 MB·English

by  A. Burns

HRT-HOOD™:
A Structured Design
Method for Hard
Real-Time Ada Systems
HRT-HOOD™:
A Structured Design
Method for Hard
Real-Time Ada Systems
REAL-TIME Series Editor:
SAFETY Hussein Zedan, Department of Mathematics and Computational
Sciences, Liverpool John Moores University, Liverpool, U.K.
CRITICAL
SYSTEMS Vol. 1 Time and Probability in Formal Design of Distributed Systems
(H.A. Hansson)
Vol. 2 Towards Verified Systems (J. Bowen, ed.)
Vol. 3 HRT-HOOD™: A Structured Design Method for Hard
Real-Time Ada Systems ( A. Burns and A. Wellings)
REAL-TIME HRT-HOOD™:
SAFETY
A Structured Design
CRITICAL
SYSTEMS
Method for Hard
Real-Time Ada Systems
Alan Burns
Andy Wellings
Department of Computer Science
The University of York
Heslington, York, U.K.
MtOOD is a trademark of the HOOD User Group
1995
ELSEVIER
AMSTERDAM • LAUSANNE • NEW YORK • OXFORD • SHANNON • TOKYO
ELSEVIER SCIENCE B.V.
Sara Burgerhartstraat 25
P.O. Box 211, 1000 AE Amsterdam, The Netherlands
ISBN: 0 444 82164 3
© 1995 Elsevier Science B.V. All rights reserved.
No part of this publication may be reproduced, stored in a retrieval system or transmitted in any
form or by any means, electronic, mechanical, photocopying, recording or otherwise, without the
prior written permission of the publisher, Elsevier Science B.V., Copyright & Permissions
Department, P.O. Box 521, 1000 AM Amsterdam, The Netherlands.
Special regulations for readers in the U.S.A. - This publication has been registered with the
Copyright Clearance Center Inc. (CCC), 222 Rosewood Drive, Danvers, MA 01932. Information can
be obtained from the CCC about conditions under which photocopies of parts of this publication
may be made in the U.S.A. All other copyright questions, including photocopying outside of the
U.S.A., should be referred to the copyright owner, Elsevier Science B.V., unless otherwise
specified.
No responsibility is assumed by the publisher for any injury and/or damage to persons or property
as a matter of products liability, negligence or otherwise, or from any use or operation of any
methods, products, instructions or ideas contained in the material herein.
This book is printed on acid-free paper.
Printed in The Netherlands.
Contents
Contents V
Foreword IX
Preface XI
Acknowledgements XIII
Real-Time Systems Research at York XV
Part 1: Hard Real-Time HOOD 1
Chapter 1: Overview of the HRT-HOOD Design Process 3
1.1 Introduction 3
1.2 The Importance of Non-Functional Requirements 5
1.3 The Software Development Life Cycle 6
1.4 Summary 8
Chapter 2: Logical and Physical Architecture Design in HRT-HOOD 11
2.1 Logical Architecture Design 11
2.2 Physical Architecture Design 14
2.3 Summary 18
Chapter 3: HRT-HOOD Objects 19
3.1 Graphical Representation 19
3.2 Passive Objects 21
3.3 Active Objects 21
3.4 Protected Objects 23
3.5 Cyclic Objects 24
3.6 Sporadic Objects 26
VI Contents
3.7 Real-Time Object Attributes 27
3.8 The Use Relationship (Control Flow) 29
3.9 The Include Relationship (Decomposition) 30
3.10 Operation Decomposition 31
3.11 Object Control Structure and Thread Decomposition 38
3.12 Data Flows 38
3.13 Exception Flows 3 8
3.14 Environment Objects 39
3.15 Class Objects 40
3.16 Distributed Systems 42
3.17 Summary 45
Part 2: Mapping HRT-HOOD Designs to Ada 47
Chapter 4: Supporting Hard Real-Time Systems in Ada 83 and Ada 95 49
4.1 The Ada 83 and Ada 95 Real-Time Models 50
4.2 Supporting Ada 95 Abstractions in Ada 83 51
4.3 Extending the Model 59
4.4 Implementation Cost 62
4.5 Summary 64
Chapter 5: Overall Mapping Approach 65
5.1 HOOD 3.1 to Ada 83 Mapping 65
5.2 An Alternative Translation Approach 68
5.3 Mapping HRT-HOOD to Ada 69
Chapter 6: Mapping of Passive and Active Objects 77
6.1 Passive Terminal Objects 77
6.2 Active Terminal Objects 80
6.3 Class and Instance Terminal Objects 91
Chapter 7: Mapping Protected, Cyclic eind Sporadic Objects 93
7.1 Protected Terminal Objects 93
7.2 Cyclic Terminal Objects 100
7.3 Sporadic Terminal Objects 109
Chapter 8: Distributed Systems 129
8.1 Analysable Communication Subsystem 131
8.2 Mapping to Ada 95 136
8.3. Mapping Protected Objects in a Distributed Ada Environment 140
Contents VII
Part 3: Case Studies 143
Chapter 9: The Mine Control System 145
9.1 Mine Control System Overview 145
9.2 The Logical Architecture Design 150
9.3 The Physical Architecture Design 156
9.4 The Object Description Skeleton 160
9.5 Translation to Ada 95 201
9.6 Conclusion 224
Chapter 10: The Olympus Attitude and Orbital Control System 225
10.1 Background to the Case Study 225
10.2 The Modelled System: The Olympus AOCS 226
10.3 The Software Architecture Design 228
10.4 The Physical Architecture Design 242
10.5 Problems Encountered 244
10.6 Summary 246
Chapter 11: Conclusions 247
Appendix A: Terminology 249
Appendix B: HRT-HOOD Definition Rules 253
B.l Design Checking, Scoping and HRT-HOOD Rules 253
B.2 General Definitions 255
B.3 Use Relationship 255
B.4 Include Relationships 256
B.5 Operations 256
B.6 Visibility 258
B.7 Consistency 258
Appendix C: Object Description Skeleton (ODS) Syntax Summary 261
C.l General Declarations 261
C.2 Object ODS Structure 262
C.3 The Visible Part of the ODS 263
C.4 The Hidden Part of the ODS 274
C.5 Parameters of Class objects 280
Appendix D: Textual Formalism — the ODS Definition 281
D. 1 PASSIVE Objects 281
D.2 ACTIVE Objects 284
VIII Contents
D.3 PROTECTED Objects 287
D.4 CYCLIC Objects 290
D.5 SPORADIC Objects 295
D.6 ENVIRONMENT Objects 299
D.7 CLASS Objects 299
D.8 Instances of CLASS Objects 300
Appendix E: Device Control Objects in HRT-HOOD 301
References 305
Index 311
IX
Foreword
The increasing use of computers for real-time control on board spacecrafts has bought
with it a greater emphasis on the development methodology used for such systems. By
their nature spacecraft control computers have to operate unattended for long periods and
because of the programmatics of space, systems are subject to a long development cycle.
As a result there are two distinct concerns, the first being that the development approach
guarantees functional and timing correctness, the second being that problems,
particularly those associated with timing, are considered as early as possible in the
spacecraft development life cycle.
The European Space Agency has, for a number of years, encouraged the
development of software using HOOD. It was thus a natural next step to investigate the
incorporation of time within the existing HOOD framework. This has proven to be very
beneficial, and this book describes the approach developed by the authors for handling
Hard Real-Time applications. It describes both the background scheduling theory,
provides practical examples of its application to real life problems, and demonstrates
how it is used in the various phases of the development of Hard-Real Time systems.
Thus I consider that HRT HOOD is a beneficial addition to the armoury of
techniques for developing real-time systems, and that this book is a welcome addition to
literature in this area which I can recommend for its insight and practical value.
Richard Creasey
European Space Research and Technology Centre