Eclipse-based tool-chain supporting a Model-Driven and Component-Based

development process

Dr. Francisco Ortiz,

Dr. Diego Alonso,

Dr. Francisca Rosique, Francisco

Sánchez

www.upct.es

www.dsie.upct.es www.dsie.upct.es/proyectos/web_explore/

3 years National R&D&I Project2010-2013

www.dsie.upct.es/cforge

Implementation platforms• Pioneer P3-AT• Autonomous Golf Vehicle• Autonomous Underwater Vehicles

o UPCT LVS (www.upct.es/lvs) - Regional coordinated projecto Ocean Systems Lab - Heriot-Watt University (Scotland)

What’s C-Forge• WCOMM: metamodel for

component-based applications. o component behaviour is expressed

as timed-automata

o The code executed by the TA states

is modeled by activities shells.

• FraCC: framework that provides

the runtime support for executing

WCOMM applications. o It provides control over the

deployment of the application (nodes,

processes and threads)

Overview of C-Forge

Interfaces, datatypes, protocols, activities

Simple Componenents (plus timed-automata)

Complex Components and Application

What is a Component in WCOMM?• Are white-box software units that encapsulate their behaviour,

expressed as a timed-automata• Communicate by sending messages to each other only

through their compatible ports• Messages can have parameters, are grouped into interfaces,

and follow the “asynchronous without response” scheme

Compared to OMG’s MARTE, WCOMM ports are flow ports:

• non-atomic (messages can have parameters of any type)

• bi-directional (thanks to protocols),

• behavioural (messages can fire events in timed automata)

Linking behaviour with code: activities• Activities encapsulate code and are associated to

timed-automata states

• Like interfaces, they are global to applications

• Users only model the “activity shell”:o the messages they receive (from other activities or through

inports),

o and the messages / events they generate (to other activities or to outports / internal to the timed automata)

o Note: the code itself (dynamic library) will be linked later in FraCC

WCO

MM

MET

AMO

DEL

:W

IDA

WCO

MM

MET

AMO

DEL

:CO

MPO

NEN

TS

WCOMM METAMODEL:EXTENDED TIMED AUTOMATA

• Concurrency & flexible deployment (c) - “fine tuned” by the user

• M2M transf. (e) for RT- Analysis (g)

• A model loader (d) performs the model interpretation at “execution time”.

FraCC: framework for Concurrent Components

FraCC keypoints

• Provides the runtime support needed for executing

WCOMM applications

• FraCC main features:o Facilitates application deployment (number of nodes,

processes, and threads), clearly separating it from

application modelling

o Control over the concurrency characteristics of the

application

o Allows dynamic component creation and activity (code)

linking

o Avoids hidden, framework management code

Code templates for activities

Sample Fracc

Execution

Eclipse-based tool-chain supporting a Model-Driven and Component-Based

development process

Dr. Francisco Ortiz -

francisco.ortiz@upct.es

Dr. Diego Alonso -

diego.alonso@upct.es

Dr. Francisca Rosique, Francisco Sánchez

www.dsie.upct.es/cforge

Anex• Extra information in following slides

User ACT

IO

User-defined region(s)

In

Out

Port management region(s)

In

Out

Outmsgs buffers

In msgs buffers

FraCC ACT

In msgs buffers

Out msgs buffers

FraCC ACT

T=100ms T=50ms

Cheddar analysis of FraCC applications

• FraCC threads are converted to Cheddar threads

• Shared resources are derived from the assignment of components to processes and regions to threads in a systematic way

• Activities should be previously characterised: wcet, periodicity, deadline, etc.

Main WCOMM characteristics• Supports modelling for reuse and modelling by reuse

by separating definitions (data-types, interfaces, activities and components) from their instances

• Defines three highly cohesive but loosely coupled views: o Shared definitions: data-types, interfaces, protocols and

activities. Highly reusable between applications

o Simple component definition: only component with behaviour on their own, modelled by a timed-automata

o Complex component definition: encapsulate other components (either simple or complex), without behaviour

• Comprises a total of 64 EClasses