PapyrusRT: Modelling and Code Generation

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Papyrus-RT is an open-source industrial-grade, complete modeling environment for the development of complex, software intensive, real-time, embedded, cyber-physical systems. This presentation discusses the motivations for the project, the UML-RT language, the tool and the code generation. This presentation was given in the Open-Source Software for Model Driven Engineering workshop (OSS4MDE'15) collocated with the MODELS'15 conference, Ottawa, Canada, September 29, 2015.

Software

Improving embedded software development productivity
© 2014 Zeligsoft
Why?
• UML-RT history:
– 1987: Telos project at BNR
– 1992: ObjectTime
– 1994: ROOM (Selic, B., Gullekson, G. and Ward, P.)
– 1998: UML-RT (Selic, B., Rumbaugh, J.)
– 2000: Rational RoseRT
– 2006: IBM RSA Real Time Edition

Improving embedded software development productivity
© 2014 Zeligsoft
Why?
• Proprietary tools limit extensibility and
customizability
• Need to support existing user base
• Need of an open-source solution

Improving embedded software development productivity
© 2014 Zeligsoft
Why Papyrus?
• Already supports UML 2.5
• Rich UI
• Open-source
• Rich Eclipse ecosystem

Improving embedded software development productivity
© 2014 Zeligsoft
UML-RT
• Object-Oriented
• Concurrent
• Real-Time systems
• UML with constraints
– Composite Structure Diagrams
– State Machine Diagrams

Improving embedded software development productivity
© 2014 Zeligsoft
UML-RT
• Capsules (Actors):
– Active classes
– Strong encapsulation and well defined interfaces
(ports typed by Protocols)
– Behaviour: hierarchical state machines
– Structure: May contain parts (sub-capsules)
– Communication by message-passing (connectors)

Improving embedded software development productivity
© 2014 Zeligsoft
UML-RT: capsules

Improving embedded software development productivity
© 2014 Zeligsoft
UML-RT: state machines

Improving embedded software development productivity
© 2014 Zeligsoft
UML-RT cont.
• Protocols:
– Port types
– Protocol messages (signals):
• Input
• Output
• Input/output
– Protocol message parameters
– Port role: base/conjugated

Improving embedded software development productivity
© 2014 Zeligsoft
UML-RT dynamic structure
• Capsule roles:
• Capsule instances are associated to threads
• Services:
– SAPs and SPPs with dynamic wiring
– Library: Timing, Log, Frame
Role Instantiation Ownership Life-time
Fixed static container = container
Optional dynamic container <= container
Plugin dynamic independent independent

Improving embedded software development productivity
© 2014 Zeligsoft
UML-RT execution semantics
• Runtime system
• Controllers
– Each capsule is associated to a controller
– A controller executes a “main” loop
– Handles messages addressed to its capsules
– Manages the capsule’s lifetimes

Improving embedded software development productivity
© 2014 Zeligsoft
Code generation
• Target language:
– Now: C++03
– Later: Java
• Target OS:
– Now: Linux
– Later: Windows, others
• Legacy applications

Improving embedded software development productivity
© 2014 Zeligsoft
Demo (early adopters version)

Improving embedded software development productivity
© 2014 Zeligsoft
Code generation
• Transformation
• Implemented in Java and Xtend
• Supports incremental generation

Improving embedded software development productivity
© 2014 Zeligsoft
Code generator structure

Improving embedded software development productivity
© 2014 Zeligsoft
Some challenges
• Introducing an intermediate meta-model:
– Designing the meta-model
– Introducing an additional step
– Transforming an existing step
– … while development continues on the existing
transformation
– … and the meta-model changes too

Improving embedded software development productivity
© 2014 Zeligsoft
Some more challenges
• Dealing with inter-element dependencies
• Generating code from non-valid models
• Dealing with partially defined models

Improving embedded software development productivity
© 2014 Zeligsoft
Wish list
• Impact analysis
– Internal
• Dependency: E.g. How does changing the way we
generate/transform protocols affect the way we
generate/transform capsules?
• Consistency: E.g. Does a change break something?
– External
E.g. How does changing the way we generate/transform
protocols affect the runtime, and viceversa?

Improving embedded software development productivity
© 2014 Zeligsoft
Links
• Website
https://www.eclipse.org/papyrus-rt/
• Wiki
https://wiki.eclipse.org/Papyrus-RT
• Bugzilla
https://bugs.eclipse.org
• Git/Gerrit
https://git.eclipse.org/r/papyrus-
rt/org.eclipse.papyrus-rt

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PapyrusRT: Modelling and Code Generation

2. Improving embedded software development productivity © 2014 Zeligsoft What is PapyrusRT? • A new open-source MDE environment for UML-RT • Based on Papyrus, a Eclipse-based environment for UML • UML-RT: UML-based language for real-time embedded systems

3. Improving embedded software development productivity © 2014 Zeligsoft Collaboration • Zeligsoft (codegen, runtime, CDT int.) • CEA List (tooling, validation, import, CDT int.) • Bran Selic (profile) • Ericsson (req., C++ profile, interm. repr.) • Peter Cigéhn (req., testing) • IncQuery Labs (interm. repr.)

4. Improving embedded software development productivity © 2014 Zeligsoft Why? • UML-RT history: – 1987: Telos project at BNR – 1992: ObjectTime – 1994: ROOM (Selic, B., Gullekson, G. and Ward, P.) – 1998: UML-RT (Selic, B., Rumbaugh, J.) – 2000: Rational RoseRT – 2006: IBM RSA Real Time Edition

5. Improving embedded software development productivity © 2014 Zeligsoft Why? • Proprietary tools limit extensibility and customizability • Need to support existing user base • Need of an open-source solution

7. Improving embedded software development productivity © 2014 Zeligsoft UML-RT • Object-Oriented • Concurrent • Real-Time systems • UML with constraints – Composite Structure Diagrams – State Machine Diagrams

8. Improving embedded software development productivity © 2014 Zeligsoft UML-RT • Capsules (Actors): – Active classes – Strong encapsulation and well defined interfaces (ports typed by Protocols) – Behaviour: hierarchical state machines – Structure: May contain parts (sub-capsules) – Communication by message-passing (connectors)

11. Improving embedded software development productivity © 2014 Zeligsoft UML-RT cont. • Protocols: – Port types – Protocol messages (signals): • Input • Output • Input/output – Protocol message parameters – Port role: base/conjugated

12. Improving embedded software development productivity © 2014 Zeligsoft UML-RT dynamic structure • Capsule roles: • Capsule instances are associated to threads • Services: – SAPs and SPPs with dynamic wiring – Library: Timing, Log, Frame Role Instantiation Ownership Life-time Fixed static container = container Optional dynamic container <= container Plugin dynamic independent independent

13. Improving embedded software development productivity © 2014 Zeligsoft UML-RT execution semantics • Runtime system • Controllers – Each capsule is associated to a controller – A controller executes a “main” loop – Handles messages addressed to its capsules – Manages the capsule’s lifetimes

14. Improving embedded software development productivity © 2014 Zeligsoft Code generation • Target language: – Now: C++03 – Later: Java • Target OS: – Now: Linux – Later: Windows, others • Legacy applications

18. Improving embedded software development productivity © 2014 Zeligsoft Some challenges • Introducing an intermediate meta-model: – Designing the meta-model – Introducing an additional step – Transforming an existing step – … while development continues on the existing transformation – … and the meta-model changes too

19. Improving embedded software development productivity © 2014 Zeligsoft Some more challenges • Dealing with inter-element dependencies • Generating code from non-valid models • Dealing with partially defined models

20. Improving embedded software development productivity © 2014 Zeligsoft Wish list • Impact analysis – Internal • Dependency: E.g. How does changing the way we generate/transform protocols affect the way we generate/transform capsules? • Consistency: E.g. Does a change break something? – External E.g. How does changing the way we generate/transform protocols affect the runtime, and viceversa?

21. Improving embedded software development productivity © 2014 Zeligsoft Links • Website https://www.eclipse.org/papyrus-rt/ • Wiki https://wiki.eclipse.org/Papyrus-RT • Bugzilla https://bugs.eclipse.org • Git/Gerrit https://git.eclipse.org/r/papyrusrt/org.eclipse.papyrus-rt

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When we generate code we generate a main file that spawns these controllers.
Why xtUMLrt? (1) common core with xtUML (sort of); not final, but a starting point towards unification. (2) simpler than UML2 => simplified transformations. (3) issolate from the tool. Why C++ model? (1) avoid regeneration of source C++ files (reduce target build times) (2) automatic synch of header/implementaiton files. More on xtUMLrt: far from a unified language; work on real unification of UML-RT and xtUML is ongoing (= not finished); work on PSCS is ongoing), but we needed something to work with; we couldn’t wait until that work was finished, so we (Zeligsoft, IncQuery, Ericsson Budapest) develop this to get the ball rolling.
Create plugin project Add dependencies to org.eclipse.papyrusrt.codegen.cpp org.eclipse.papyrusrt.xtumlrt.common org.eclipse.papyrusrt.codegen.lang.cpp Add extension to org.eclipse.papyrusrt.codegen.cpp.generator Define a subclass of oep.codegen.cpp.AbstractCppGenerator implement AbstractCppGenerator.Factory The generator extension: Type: ClassGenerator, CapsuleGenerator, etc. Class: your AbstractCppGenerator.Factory
Dealing with inter-element dependencies Incremental generation Code for an element depends on code generated for another element

PapyrusRT: Modelling and Code Generation

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PapyrusRT: Modelling and Code Generation

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