1. ESIDE: An Integrated Development Environment for Component-Based Embedded Systems Nicholas T. Pilkington, Juncao Li, and Fei Xie Department of Computer Science Portland State University

2. 2 Agenda 1.Problems and Our Contribution 2.EADL Language as Basis of ESIDE 3.The ESIDE Environment 4.Case Study: the TinyOS Platform 5.Experiences with ESIDE 6.Future Work

3. 3 Problems of Co-Development The hardware/software boundary…The hardware/software boundary… –interface is often specified implicitly. –tradeoffs insufficiently exploited. Simulation and formal verification…Simulation and formal verification… –are left as a final step before deployment. –require separate tools and interfaces. Embedded system development…Embedded system development… –is done without explicit support for re-use –or re-used modules introduce high overhead

4. 4 Our Contribution The Embedded System IDE (ESIDE)The Embedded System IDE (ESIDE) –Based on the EADL language –Provides a unified environment for… Concurrent Hardware/Software Co-Development Co-Simulation, Co-Verification & Co-Synthesis –Abstracts architecture from implementation –Unifies development across all “platforms” Experiences with ESIDEExperiences with ESIDE –Remodel existing component-based embedded systems –Education tool on component-based design in Advanced Software Engineering Course

5. 5 Agenda 1.Problems and Our Contribution 2.EADL Language as Basis of ESIDE 3.The ESIDE Environment 4.Case Study: the TinyOS Platform 5.Experiences with ESIDE 6.Future Work

6. 6 Embedded Architecture Description Language (EADL) Architecture-only specification –No runtime semantics –Can be initialized to different embedded platforms Encourages re-use on multiple levels of abstraction –Ports, components, component templates, and patterns Formal properties specified at design-time E.g., initialization of EADL to a platform SW Semantics (e.g., nesC) Bridge Semantics (BSL) HW Semantics (e.g., Verilog) Embedded Architecture Description Language

7. 7 Overview of the Language Constructs EntitiesTemplates Port Service-oriented grouping of events Service provides-uses relationship Port Type Event co-relation similarity Component Unit of reuse Component interface based on ports Component Template Component external similarity Architecture Sub-components Sub-component inter-connections Architectural Pattern Component internal similarity

8. 8 EADL - An Example software component TimerC { interface { provides StdControl, TimerP as Timer; uses PowerManagement, Clock, IOH; mapping(Timer, TimerM.Timer); mapping(StdControl, TimerM.StdControl); mapping(PowerManagement,TimerM.PowerManagement); mapping(Clock, TimerM.Clock); mapping(IOH, TimerM.IOH); } configuration { component TimerM; component NoLeds; connection(NoLeds.Leds, TimerM.Leds); } properties { assertion ClockP1 s1: After_Eventually_(StdControl.init.call=TRUE, Clock.setRate.call=TRUE) }

9. 9 Agenda 1.Problems and Our Contribution 2.EADL Language as Basis of ESIDE 3.The ESIDE Environment 4.Case Study: the TinyOS Platform 5.Experiences with ESIDE 6.Future Work

10. 10 Main Features of ESIDE Platform-Based DevelopmentPlatform-Based Development –Choose your own native languages –Platform induces semantics into EADL architecture Component-Based Co-Design InterfaceComponent-Based Co-Design Interface –The central aspect of Co-Development –Simple, GUI-based drag ‘n drop interface Highly Accessible Simulation & VerificationHighly Accessible Simulation & Verification –Same interface for all development stages –Invoke at any time, on partial implementations One-Touch Native Language SynthesisOne-Touch Native Language Synthesis –Leverage native language tools to compile… –The tools are included in the platform package

11. 11 ESIDE Architecture and Features

12. 12 Platform-Based Development Platforms Provide… – Semantics Native Languages (HW, SW & Bridge) –Native Tools Co-Simulation Tools and Features Co-Verification Tools and Features Synthesizers from EADL to native languages –A Platform Library of Reusable EADL Constructs Ports, components, component templates, and architecture patterns

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14. 14 Co-Design Re-thinking the HW/SW relationshipRe-thinking the HW/SW relationship –Do away with the old stack-based approach –Hybrid components join HW and SW Re-use is independent of the HW/SW boundary –Bridge hides HW/SW communication details Makes the HW/SW component interfaces explicit and clear Component-Based DevelopmentComponent-Based Development –Interface functionality encapsulated by ports –Behavioral functionality by components –Common design trends captured by patterns

15. 15 Co-Simulation Co-Simulation is a view-based feature Simulation is supported at TL or RTL levels Native language tools run HW/SW simultaneously Nature of the simulator is highly platform-dependent

16. 16 Co-Verification Properties are specified at design-time, not afterward Verify at any time, even on partial implementations CBD allows for property-based abstractions (efficiency) Current system supports temporal-based assertions

17. 17 Agenda 1.Problems and Our Contribution 2.EADL Language as Basis of ESIDE 3.The ESIDE Environment 4.Case Study: the TinyOS Platform 5.Experiences with ESIDE 6.Future Work

18. 18 The Platform Languages The nesC software languageThe nesC software language –Developed at UC Berkeley for TinyOS –Component-based specification language –No dynamic memory allocation –Intrinsic support for concurrency and atomicity The Verilog hardware languageThe Verilog hardware language –TinyOS is a software language only –We re-designed the Mica platform in Verilog The BSL bridge languageThe BSL bridge language –Developed by our team specifically for this platform –Explicitly describes the interface between HW&SW –Provides Transactors for transaction-level simulation –Compiles to C (nesC compatible) and Verilog code

19. 19 Simulation on the TinyOS Platform

20. 20 Agenda 1.Problems and Our Contribution 2.EADL Language as Basis of ESIDE 3.The ESIDE Environment 4.Case Study: the TinyOS Platform 5.Experiences with ESIDE 6.Future Work

21. 21 Experiences with ESIDE We remodeled 12 TinyOS-Based SystemsWe remodeled 12 TinyOS-Based Systems –Faithfully preserved the HW/SW stack architecture –Converted the code base with very little modification Encapsulation of components Componentized HW/SW interfaces One-to-many port mappings –Specified formal properties on the systems –Performed verification and simulation –Remodeled systems can be synthesized to TinyOS deployable code

22. 22 Experiences with ESIDE (cont.) We gave ESIDE to students at PSUWe gave ESIDE to students at PSU –were from the Advanced Software Engineering Class –had no experience in embedded system design –had no experience in formal verification –were able to design complex and interesting systems A TinyOS networked sensor system (>50 components) A smart home system (>30 components)

23. 23 Remodeling TinyOS Systems # of components in Mica platform library5564 # of components in PC platform library5863 # of ports/interfaces in Mica platform library3049 # of ports/interfaces in PC platform library2946 # of components specific for each system3841 # of ports/interfaces specific for each system810 # of hardware components developedN/A12 # of bridge components developedN/A2

24. 24 Simulating the TinyOS Systems Co-SimulationCo-Verification System RTL (sec) TL (sec) Time (sec) Memory (MB) SenseTask1.8870.00422.341.644 SenseToLeds1.5870.00327.023.765 SenseToRFM6.8370.00852.613.806 CodeBlue7.4560.01134.665.792

25. 25 Agenda 1.Problems and Our Contribution 2.EADL Language as Basis of ESIDE 3.The ESIDE Environment 4.Case Study: the TinyOS Platform 5.Experiences with ESIDE 6.Future Work

26. 26 Future Work Visual error trace playback featureVisual error trace playback feature –Simulation: Show the user what’s happening –Verification: Play back problematic execution Expressiveness of formal propertiesExpressiveness of formal properties –Include support for resource utilization, e.g. Expand the collection of platformsExpand the collection of platforms –Microsoft Invisible Computing Platform

27. 27 Questions? http://web.cecs.pdx.edu/~xie/co-ver/co-ver-home.htm Nicholas T. Pilkington (nickp@cs.pdx.edu)nickp@cs.pdx.edu Juncao Li (juncao@cs.pdx.edu)juncao@cs.pdx.edu Dr. Fei Xie (xie@cs.pdx.edu)xie@cs.pdx.edu