Portable Real-Time Code from PTIDES Models€¦ · Workshop on Time Analysis and Model-Based Design, from Functional Models to Distributed Deployments (TiMoBD) ESWeek Taipei, Taiwan,

l Edward A. Lee l 10/13/11

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Portable Real-Time Code from PTIDES Models Patricia Derler, John Eidson, Edward A. Lee, Slobodan Matic, Christos Stergiou, Michael Zimmer UC Berkeley Invited Talk Workshop on Time Analysis and Model-Based Design, from Functional Models to Distributed Deployments (TiMoBD) ESWeek Taipei, Taiwan, Oct. 9, 2011

Lee, et al. Berkeley 2

The Problem we are addressing

For cyber-physical systems, programs do not adequately specify behavior. When interactions with physical processes are central, the temporal dynamics of software is a critical part of its behavior. Today, temporal dynamics emerges from an implementation of the system, rather than being part of the model and/or program(s) specifying the system. As a consequence, systems are brittle and non-portable.


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Platform independent model of functional and

timing behavior Code Generation to multiple target platforms

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Reserve Velocity (red), Target Velocity (green) and Tracking Error

Time in seconds

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Contact (red), Top Dead Center (green), Cut (blue) and Arm (black)

Time in seconds

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Simulation

Same I/O behavior w.r.t. value and timing

e.g.: Renesas 7216 Demonstration Kit

e.g.: XMOS development board with 4

XCores.

Our Goal: Determinate timing at sensors and actuators


Success on a test case: Flying Paster

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topDeadCenter armContact tapeDetector contact cut

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Time in seconds

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Timing given by simulation of the model

Timing measured by oscilloscope on a Renesas board.

Timing measured by software instrumentation on an XMOS board.


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Problems that complicate analysis of system behavior:

Structure of a Cyber-Physical System

Messages from different sources interleave

nondeterministically Sensors may be locked out for an indeterminate

amount of time

Plat

Variability of execution times affects results

(not just WCET) Interrupt-driven I/O disrupts timing

Platforms’ measurements of time differ

A fault in a remote component may disrupt a

critical local activity

A fault in a remote component may go undetected for a long time

Etc…


Our Programming Model

PTIDES: Programming Temporally Integrated Distributed Embedded Systems Based on a determinate discrete-event (DE) model of computation (MoC), originally developed for simulation.


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Ptides: First step: Time-stamped messages.

Messages carry time stamps that define their

interleaving


Ptides: Second step: Network time synchronization

GPS, NTP, IEEE 1588, time-triggered busses, etc., all provide some form of common time base. These are becoming fairly common.

Assume bounded clock error

Assume bounded clock error e



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Ptides: Third step: Bind time stamps to real time at sensors and actuators

Input time stamps are ≥ real time

Input time stamps are ≥ real time

Output time stamps are ≤ real time

Output time stamps are ≤ real time Messages are

processed in time-stamp order.

Clock synchronization gives global meaning to

time stamps


Global latencies between sensors and actuators become controllable, which enables analysis of system dynamics.

Ptides: Fourth step: Specify latencies in the model

Model includes manipulations of time stamps, which control

latencies between sensors and actors

Actuators may be designed to interpret input time stamps as the time at which to

take action. Feedback through the physical world


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Ptides: Fifth step Safe-to-process analysis (ensures determinacy) Safe-to-process analysis guarantees that the generated code obeys time-stamp semantics (events are processed in time-stamp order), given some assumptions.

Assume bounded network delay d

Assume bounded clock error


An earliest event with time stamp t here can be safely merged when real time exceeds t + s + d + e – d2


Assume bounded sensor delay s

Application specification of

latency d2


Ptides Schedulability Analysis Determine whether deadlines can be met

Schedulability analysis incorporates computation times to determine whether we can guarantee that deadlines are met.

Deadline for delivery of event with time stamp t

here is t – c3 – d2

Deadline for delivery here is t

Assume bounded computation time c1




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PtidyOS: A lightweight microkernel supporting Ptides semantics

PtidyOS runs on ¢  Arm (Luminary Micro) ¢  Renesas ¢  XMOS Occupies about 16 kbytes of memory.

Luminary Micro 8962

An interesting property of PtidyOS is that despite being highly concurrent, preemptive, and EDF-based, it does not require threads. A single stack is sufficient!

The name “PtidyOS” is a bow to TinyOS, which is a similar style of runtime kernel.

Renesas 7216 Demonstration Kit

XMOS development board with 4

XCores.


Workflow Structure

HW Platform Software Component

Library

Ptides Model Code Generator

PtidyOS

Code

Plant Model

Network Model

HW in the Loop

Simulator

Causality Analysis

Program Analysis

Schedulability Analysis

Analysis

Mixed Simulator

Ptolemy II Ptides domain

Ptolemy II Discrete-event, Continuous, and Wireless domains

e.g. Luminary Micro 8962 IEEE 1588 Network

time protocol


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A Typical Cyber-Physical System Printing Press

•  Applica(on aspects •  local (control) •  distributed (coordina(on) •  global (modes)

•  Ethernet network •  Synchronous, Time-‐Triggered •  IEEE 1588 (me-‐sync protocol

•  High-‐speed, high precision •  Speed: 1 inch/ms (~100km/hr) •  Precision: 0.01 inch

-‐> Time accuracy: 10us Bosch-‐Rexroth

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Lee, et al. Berkeley 16 Source: http://offsetpressman.blogspot.com/2011/03/how-flying-paster-works.html

Example – Flying Paster


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Source: hNp://offsetpressman.blogspot.com/2011/03/how-‐flying-‐paster-‐works.html

Flying Paster


Printing Press – Model in Ptolemy II See talk Thursday by Patricia Derler at workshop on Model-Based Design with a Focus on Extra-Functional Properties


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Plant model +

Distributed Controllers

5 Siemens CKI Project Review Patricia Derler





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Time in seconds

Velo

city

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0.30

1.997 1.998 1.999 2.000 2.001 2.002 2.003 2.004 2.005 2.006


Time in seconds

Even

ts

Simulation




XCores.

Determinate timing at sensors and actuators




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Time in seconds

Velo

city

m/s

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0.20

0.25

0.30

1.997 1.998 1.999 2.000 2.001 2.002 2.003 2.004 2.005 2.006


Time in seconds

Even

ts

Simulation




XCores.

Determinate timing at sensors and actuators

XMOS Predictable timing Multiple cores No analog I/O No FPU No hardware clock

Renesas PHY chip for accurate timestamping of inputs, Analog I/O


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Renesas vs. XMOS: Measured I/O timing

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Time in seconds

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Renesas

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Time in seconds

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input input output

Renesas vs. XMOS: I/O timing


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Renesas vs. XMOS: Busy vs. Idle Time

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Time in seconds

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Ptides Publications ¢  Y. Zhao, J. Liu, E. A. Lee, “A Programming Model for Time-Synchronized

Distributed Real-Time Systems,” RTAS 2007.

¢  T. H. Feng and E. A. Lee, “Real-Time Distributed Discrete-Event Execution with Fault Tolerance,” RTAS 2008.

¢  P. Derler, E. A. Lee, and S. Matic, “Simulation and implementation of the ptides programming model,” DS-RT 2008.

¢  J. Zou, S. Matic, E. A. Lee, T. H. Feng, and P. Derler, “Execution strategies for Ptides, a programming model for distributed embedded systems,” RTAS 2009.

¢  J. Zou, J. Auerbach, D. F. Bacon, E. A. Lee, “PTIDES on Flexible Task Graph: Real-Time Embedded System Building from Theory to Practice,” LCTES 2009.

¢  J. C. Eidson, E. A. Lee, S. Matic, S. A. Seshia and J. Zou, “Time-centric Models For Designing Embedded Cyber-physical Systems,” ACES-MB 2010.

¢  J. C. Eidson, E. A. Lee, S. Matic, S. A. Seshia, and J. Zou, Distributed Real-Time Software for Cyber-Physical Systems, To appear in Proceedings of the IEEE special issue on CPS, December, 2011.

http://chess.eecs.berkeley.edu/ptides/


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Conclusions

Today, timing behavior is a property only of realizations of software systems.

Tomorrow, timing behavior will be a semantic property of programs and models.

Raffaello Sanzio da Urbino – The Athens School

Overview References: • Lee. Computing needs time. CACM, 52(5):70–79, 2009 • Derler, Lee, Sangiovanni-Vincentelli, Modeling Cyber-Physical Systems, To appear in Proc. of the IEEE December, 2011.

Documents

Portable Real-Time Code from PTIDES Models€¦ · Workshop on Time Analysis and Model-Based Design, from Functional Models to Distributed Deployments (TiMoBD) ESWeek Taipei, Taiwan,