integrated model-based software development and …...1 ft3/sm/ ep/vis / ep/vrs - a. rau / m.conrad...

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FT3/SM/ EP/VIS / EP/VRS - A. Rau / M.Conrad / H.Keller / I.Fey / C.Dziobek, 10.05.00, 1

Integrated Model-basedSoftware Development and Testing

with CSD and MTest

Integrated Model-basedSoftware Development and Testing

with CSD and MTest

Andreas Rau / Mirko Conrad / Helmut Keller / Ines Fey / Christian Dziobek

DaimlerChrysler AG, Germany

fa-stz-Andreas.Rau @DaimlerChrysler.comMirko.Conrad @DaimlerChrysler.comHelmut.Keller @DaimlerChrysler.comInes.Fey @DaimlerChrysler.comChristian.Dziobek @DaimlerChrysler.com


OverviewOverview

Â Model-based DevelopmentÂ Environment and Status QuoÂ Idea and AdvantagesÂ Caveats and Strategy

Â Control System Design with CSDÂ Development CycleÂ Tool Integration, ComponentsÂ Guidelines

Â Model-based Testing with MTestÂ Abstract Description of Test ScenariosÂ Definition of Test DataÂ Generation of Test Harness / Test ExecutionÂ Test Evaluation and Documentation

Â Summary and Future Work

Â Model-based DevelopmentÂ Environment and Status QuoÂ Idea and AdvantagesÂ Caveats and Strategy




MTest

(Andreas Rau)

(Mirko Conrad)

(Andreas Rau)

2


OverviewOverview

Â Model-based Development ProcessÂ Environment and Status QuoÂ Idea and AdvantagesÂ Caveats and Strategy








MTest

(Andreas Rau)

(Mirko Conrad)

(Andreas Rau)


Status QuoÂ Low level of abstractionÂ Late feedback / expensive bugfixingÂ Different notations / representationsÂ Communication problems

Status QuoÂ Low level of abstractionÂ Late feedback / expensive bugfixingÂ Different notations / representationsÂ Communication problems

Model-based Development Process - Environment and Status QuoModel-based Development Process - Environment and Status Quo

EnvironmentÂ Competitive Market (need for speed and innovation)Â Limited Resources (time, money, people)Â Increasing importance of software (cost, flexibility, power)Â Increasing system complexity (distribution, safety-criticality)

EnvironmentÂ Competitive Market (need for speed and innovation)Â Limited Resources (time, money, people)Â Increasing importance of software (cost, flexibility, power)Â Increasing system complexity (distribution, safety-criticality)

R&DDepartment

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Model-based Development Process - IdeaModel-based Development Process - Idea

IdeaÂ Integrated models instead of separate documents and code throughout the processÂ Model as high-level language with high-level compilerÂ Early feedback by simulationÂ System integration capabilityÂ Encapsulation of know-howÂ Iterative refinement

IdeaÂ Integrated models instead of separate documents and code throughout the processÂ Model as high-level language with high-level compilerÂ Early feedback by simulationÂ System integration capabilityÂ Encapsulation of know-howÂ Iterative refinement

+


AdvantagesÂ High level of abstractionÂ Executable specificationÂ Integrated tool environmentÂ Single-source system descriptionÂ Common system integration platformÂ Reuse of functions and componentsÂ Continuous validation by simulationÂ Reduction of time and costs

AdvantagesÂ High level of abstractionÂ Executable specificationÂ Integrated tool environmentÂ Single-source system descriptionÂ Common system integration platformÂ Reuse of functions and componentsÂ Continuous validation by simulationÂ Reduction of time and costs

Model-based Development Process - AdvantagesModel-based Development Process - Advantages

Separate Documents+ Classical Prototyping

or Simulation

ManualImplementation

Integrated Modelwith Simulation andCode Generation

t Saved Time

4


Model-based Development Process - „High-Level Compiler“Model-based Development Process - „High-Level Compiler“

Prose Model Source Executable

System Designer RTW/TargetLink Compiler+

High-Level Compilerwith sourcecode as an internal representation

(target language) (target hardware)


Model-based Development Process - CaveatsModel-based Development Process - Caveats

CaveatsÂ Benefits are not available for free!Â Model-based development must be embedded in an adequate processÂ Such a process is different from the existing process (early test loops, no coding)Â But: Implementation is not really eliminated but only lifted to a higher level!Â Tool chain must support the process during all phases

CaveatsÂ Benefits are not available for free!Â Model-based development must be embedded in an adequate processÂ Such a process is different from the existing process (early test loops, no coding)Â But: Implementation is not really eliminated but only lifted to a higher level!Â Tool chain must support the process during all phases

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StrategyÂ Matlab/Simulink/Stateflow are a powerful family of toolsÂ The tool-familiy is general-purpose, not all specific needs are addressedÂ The tool-family by itself is not sufficient to support system developmentÂ Use Matlab as a powerful platform for tool-development and integration insteadÂ Step by step introduction of an open integrated tool-chain for software developmentÂ Definition of interfaces in the tool-chain for cooperation based on standardsÂ Productizing of the existing tool-chains based on the experience in pilot projectsÂ Alignment of processes, tools and interfaces with strategic partners

StrategyÂ Matlab/Simulink/Stateflow are a powerful family of toolsÂ The tool-familiy is general-purpose, not all specific needs are addressedÂ The tool-family by itself is not sufficient to support system developmentÂ Use Matlab as a powerful platform for tool-development and integration insteadÂ Step by step introduction of an open integrated tool-chain for software developmentÂ Definition of interfaces in the tool-chain for cooperation based on standardsÂ Productizing of the existing tool-chains based on the experience in pilot projectsÂ Alignment of processes, tools and interfaces with strategic partners

Model-based Development Process - StrategyModel-based Development Process - Strategy

Specialized Tools

General Purpose PlatformMatlab/Simulink/Stateflow

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MTest

Model-based Development Process - Summary and ToolchainModel-based Development Process - Summary and Toolchain

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OverviewOverview









MTest

(Andreas Rau)

(Mirko Conrad)

(Andreas Rau)


CSD - Development CycleCSD - Development Cycle

Rapid system prototypingon different hardwareplatforms

Control system design by use of ML/SL/SF and automatic code generation

System validation andfine-tuning in the car

Offline-simulation ofrecorded test manoevres

and evaluation of theresults

Early feedbackfrom simulation

Use results forsystem refinement

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IntentionÂ Offer specific support to satisfy individual developer needsÂ Support the whole processÂ Easy to use

IntentionÂ Offer specific support to satisfy individual developer needsÂ Support the whole processÂ Easy to use

CSD - Intention and DescriptionCSD - Intention and Description

DescriptionÂ Built on top of the Matlab tool-familyÂ Platform for system development (Control System Design)Â Platform for tool integration (plug-ins for various process activities, e.g. testing)Â Functions and libraries for

Â controller design (building blocks)Â simulation (context model)Â identification/modellingÂ software specificationÂ documentationÂ diagnostics

Â Modelling guidelines

DescriptionÂ Built on top of the Matlab tool-familyÂ Platform for system development (Control System Design)Â Platform for tool integration (plug-ins for various process activities, e.g. testing)Â Functions and libraries for

Â controller design (building blocks)Â simulation (context model)Â identification/modellingÂ software specificationÂ documentationÂ diagnostics

Â Modelling guidelines


CSD-Environment

Parameters of Actuators orMeasurement Data

Test Automation(MTest)

CAD-DataCar Parameters orMeasurement Data

Controller-Models, ECU Function Software

Generation ofDocumentationfor models, test

cases, ...

ControllerDesign

SimulationTests

Specification

Interface forParameterTuning Tool

HiL-Environment

ModellingIdentification

...

3D Animationof DrivingManoeuvers

CSD - Tool IntegrationCSD - Tool Integration

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CSD - Context Model and Component LibrariesCSD - Context Model and Component Libraries

Controller Modelsfor Driving Systems

Controller Modelsfor Driving Systems

Plant and ControllerModels of Actuators

Plant and ControllerModels of Actuators

Car ModelCar Model

ÂConstruction KitÂEasy Exchange of Plant and Controller ModelsÂEasy Implementation of Controller Model

ÂConstruction KitÂEasy Exchange of Plant and Controller ModelsÂEasy Implementation of Controller Model


CSD - GuidelinesCSD - Guidelines

Note: Tools and notations by themselves arenot sufficient for a practically usable softwaretechnology. Guidelines are necessary for theiradaption and application, but not sufficienteither. In particular, they are not an end inthemselves and no replacement for humanexperience, good judgement and creativity.

Note: Tools and notations by themselves arenot sufficient for a practically usable softwaretechnology. Guidelines are necessary for theiradaption and application, but not sufficienteither. In particular, they are not an end inthemselves and no replacement for humanexperience, good judgement and creativity.

ÂAchieve consistent style (mutual understanding of models)ÂAvoid common traps and pitfalls (restrictions and workarounds)ÂOffer patterns for systems and algorithms (reuse and visual recognition)ÂTry to establish a widely accepted best-practice

ÂAchieve consistent style (mutual understanding of models)ÂAvoid common traps and pitfalls (restrictions and workarounds)ÂOffer patterns for systems and algorithms (reuse and visual recognition)ÂTry to establish a widely accepted best-practice

Simulink module pattern with explicit interface Stateflow flowchart if-pattern

[Condition]

{ action;}

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CSD - Model-Code AnalogyCSD - Model-Code Analogy

double compute(single x, int16 y) { double z; ... return z;}

void main(void) { struct { double a1, a2, a3 } s; double b,c; ... c = compute(s.a1*3.6,b); /*

x = (single) s.a1 * 3.6;y = (int16) b;-- computation --c = (double) z;

*/}

Model/Code analogy should beexploited for additional benefits!Model/Code analogy should beexploited for additional benefits!


OverviewOverview









MTest

(Andreas Rau)

(Mirko Conrad)

(Andreas Rau)

10


MTest

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Â Methodological and tool support for the entire model-based testing cycleÂ Tight integration of simulation, model and software testingÂ Different approaches: - systematic testing (S)

- interactive simulation / testing (I)- regression testing (R)

Â Integration into CSD environment

Â Methodological and tool support for the entire model-based testing cycleÂ Tight integration of simulation, model and software testingÂ Different approaches: - systematic testing (S)

- interactive simulation / testing (I)- regression testing (R)

Â Integration into CSD environment

MTest - Module Test Environment for Matlab/SimulinkMTest - Module Test Environment for Matlab/Simulink


Test Organization

Selection and Structuring of Test Aspects

Abstract Description of Test Scenarios

Test Execution

Generation ofTest Harness

Test Evaluation andDocumentation

Definition of Test Data

MTest - Tool Support for Model-based TestingMTest - Tool Support for Model-based Testing

MTest

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MTest

0 m

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24.5 m

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C la ss ifica tio nT re e

C la ss ifica tio nT re e

c MTest - Abstract Definition of Test Scenariosc MTest - Abstract Definition of Test Scenarios

Test ScenarioTest Scenario

Â Utilization of classification-tree method / Classifiction Tree Editor (CTE/ES)Â Automatic examination of test object's interface (input signals, parameters)Â Semi-automatic generation of interface-based classification-trees (Model Extractor)

Â Utilization of classification-tree method / Classifiction Tree Editor (CTE/ES)Â Automatic examination of test object's interface (input signals, parameters)Â Semi-automatic generation of interface-based classification-trees (Model Extractor)


Interactive testInteractive test

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d MTest - Definition of Test Datad MTest - Definition of Test Data

Tabular TestData Editor

Tabular TestData Editor

Graphical TestData Editor

Graphical TestData Editor

MTest

Interactive PanelInteractive Panel

Â Automatic generation of test data framework from CTE/ES

- test data restrictions (signal corridors)

- suggestion of input signal courses

Â Definition or refinement by different test data editors

Â Automatic generation of test data framework from CTE/ES

- test data restrictions (signal corridors)

- suggestion of input signal courses

Â Definition or refinement by different test data editors

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f MTest - Generation of Test Harness / Test Executionf MTest - Generation of Test Harness / Test Executione /

MTest

Â Automatic generation of test harness for model tests

- incorporation of necessary stimuli (test data) and evaluation blocks (test output)- manual extension of test harness possible

Â Selection between two modi of test execution

- Automatic batch testing - Interactive testing (manual change of test data)

Â Automatic generation of test harness for model tests

- incorporation of necessary stimuli (test data) and evaluation blocks (test output)- manual extension of test harness possible

Â Selection between two modi of test execution

- Automatic batch testing - Interactive testing (manual change of test data)


g MTest - Test Evaluation and Documentationg MTest - Test Evaluation and Documentation

MTest

Â Automatic generation of test documentationÂ Utilization of Matlab/Simulink Report Generator or generation of ASCII reportsÂ Different levels of test documentation possibleÂ Test evaluation: comparison between nominal and actual values

Â Automatic generation of test documentationÂ Utilization of Matlab/Simulink Report Generator or generation of ASCII reportsÂ Different levels of test documentation possibleÂ Test evaluation: comparison between nominal and actual values

2.2. . . .

Unit Test Documentation VehicleDynamicsTest Sequence VehicleDynamics_TSeq1

Mirko Conrad ([email protected])Ines Fey (Ines.Fey@ DaimlerChrysler.com)Andy Yap ([email protected])

Table of Contents1. Unit Under Test2. Test Sequences3. Test Data4. . . .

Automatically generated:18:40 18.Feb. 2000

Chapter 2. Test Sequences2.1. Classification Tree with combination table

test001

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Model Test

MTest

Integration MTest CSDIntegration MTest CSD

CTE/ESClassification-Tree Editor

forEmbedded Systems

Abstract Definitionof Test Scenarios

Definition of Test Data

Test Evaluation and Documentation

T e s t0 0 4

Generation of Test Harness / Test Execution

ModelTest

Activities3/4

5

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OverviewOverview









MTest

(Andreas Rau)

(Mirko Conrad)

(Andreas Rau)

14


Â Model-based development is the key enabler for complex and innovative systems

Â Notation must be supported by a sound process and tools to earn the benefits

Â General-purpose tools must be supplemented with domain-specific solutions

Â Toolchain must be integrated and support the whole development process

Â Tool-supported validation and testing should be an integral part of the process

Â Validation and testing could / should start in early development stages

⊕ speed-up in functional development by support of heuristic tests

⊕ quality increase by systematic testing

⊕ reduction of costly test iterations (regression test)

⊕ reuse of test cases throughout the whole development process

Â Full integration of modelling and testing process into Matlab environment

ª Considerable decrease of development and testing time and costs

Â Model-based development is the key enabler for complex and innovative systems

Â Notation must be supported by a sound process and tools to earn the benefits

Â General-purpose tools must be supplemented with domain-specific solutions

Â Toolchain must be integrated and support the whole development process

Â Tool-supported validation and testing should be an integral part of the process

Â Validation and testing could / should start in early development stages

⊕ speed-up in functional development by support of heuristic tests

⊕ quality increase by systematic testing

⊕ reduction of costly test iterations (regression test)

⊕ reuse of test cases throughout the whole development process

Â Full integration of modelling and testing process into Matlab environment

ª Considerable decrease of development and testing time and costs

Summary Summary


Tool Aspects

Â Develop additional tools to cover the remaining process steps

Â Improve support for Version and Change Management

Â Improve support for Distributed Development

Â Improve support for Model Reuse

Tool Aspects

Â Develop additional tools to cover the remaining process steps

Â Improve support for Version and Change Management

Â Improve support for Distributed Development

Â Improve support for Model Reuse

Future WorkFuture Work

Process Aspects

Â Semantically refine the notation (standard blocksets, interface semantics)

Â Establish a sound modelling methodology (notation elements vs phases)

Â Adopt classical V&V methods to models

Process Aspects

Â Semantically refine the notation (standard blocksets, interface semantics)

Â Establish a sound modelling methodology (notation elements vs phases)

Â Adopt classical V&V methods to models

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Mirko ConradSoftware TechnologyMethods and Tools (FT3/SM)

e-mail:[email protected]

DaimlerChrysler AGResearch and TechnologyAlt-Moabit 96 AD-10559 BerlinPhone +49-(0)30 - 39982-263Fax +49-(0)30 - 39982-107

Ines FeySoftware TechnologyMethods and Tools (FT3/SM)


DaimlerChrysler AGResearch and TechnologyAlt-Moabit 96 AD-10559 BerlinPhone +49-(0)30 - 39982-246Fax +49-(0)30 - 39982-107

Andreas RauControl System DesignAdvanced System DevelopmentDriving Functions (EP/VRS)

e-mail: [email protected]

Phone +49-(0)7031 - 90 -77881Fax +49-(0)7031 - 90 -77884

Dr. Helmut KellerManager Control System DesignAdvanced DevelopmentSystem Development Driving Functions (EP/VRS)


DaimlerChrysler AGMercedes Technology CenterHPC X910D-71059 SindelfingenPhone +49-(0)7031 - 90 -77860Fax +49-(0)7031 - 90 -77884

DaimlerChrysler AGMercedes Technology CenterHPC X974D-71059 Sindelfingen Phone +49-(0)7031 - 90 -81559Fax +49-(0)7031 - 90 -74856

Cristian DziobekSystem IntegrationAdvanced DevelopmentSoftware Technologies (EP/VIS)
