Skip to main content
Log in

Handling causality and schedulability when designing and prototyping cyber-physical systems

  • Theme Section Paper
  • Published:
Software and Systems Modeling Aims and scope Submit manuscript

Abstract

Cyber physical systems are built upon digital and analog circuits, making it necessary to handle different models of computation during their design and verification (e.g., by simulation). When designing these systems, an important aspect to consider is the causality between the different domains. For this, we introduce a new model-driven framework able to identify causality problems and to suggest a valid schedule between the analog and digital domains. Once a valid schedule has been computed, our framework can generate cycle and bit accurate virtual prototypes (in SystemC/SystemC AMS) from high-level SysML models.

This is a preview of subscription content, log in via an institution to check access.

Access this article

Price excludes VAT (USA)
Tax calculation will be finalised during checkout.

Instant access to the full article PDF.

Fig. 1
Fig. 2
Fig. 3
Fig. 4
Fig. 5
Fig. 6
Fig. 7
Fig. 8
Fig. 9

Similar content being viewed by others

References

  1. Accellera Systems Initiative: SystemC AMS extensions Users Guide, Version 1.0 (2010)

  2. Andrade, L., Maehne, T., Vachoux, A., Aoun, C.B., Pêcheux, F., Louërat, M.M.: Pre-simulation symbolic analysis of synchronization issues between discrete event and timed data flow models of computation. In: Design, Automation & Test in Europe Conference & Exhibition (DATE), pp. 1671–1676. Grenoble, France (2015)

  3. Andrade Porras, L.: Principles and Implementation of a Generic Synchronization Interface Between SystemC AMS Models of Computation for the Virtual Prototyping of Multi-disciplinary Systems. Ph.D. thesis, UPMC (2016)

  4. Apvrille, L.: TTool, an Open-source UML and SysML Toolkit. http://ttool.telecom-paris.fr/

  5. Ben Aoun, C.: Principles and Realization of a Virtual Prototyping Environment for Composable Heterogeneous Systems. Ph.D. thesis, UPMC (2017)

  6. Bengtsson, J., Yi., W.: Timed automata: semantics, algorithms and tools. In: Reisig, W., Rozenberg, G. (Eds.) Lecture Notes on Concurrency and Petri Nets, pp. 87–124. LNCS 3098. Springer, Berlin (2004)

  7. Benveniste, A., Bourke, T., Caillaud, B., Pagano, B., Pouzet, M.: A type-based analysis of causality loops in hybrid modelers. In: 17th International Conference on Hybrid Systems: Computation and Control (HSCC’14). pp. 71–82. Berlin, Germany (2014). http://zelus.di.ens.fr/hscc2014/fullpaper.pdf

  8. Benveniste, A., Caspi, P., Edwards, S.A., Halbwachs, N., Le Guernic, P., De Simone, R.: The synchronous languages 12 years later. Proc. IEEE 91(1), 64–83 (2003)

    Article  Google Scholar 

  9. Beyond Dreams: (Design Refinement of Embedded Analogue and Mixed-Signal Systems) (2008–2011). http://projects.eas.iis.fraunhofer.de/beyonddreams

  10. Blochwitz, T., Otter, M., Arnold, M., Bausch, C., Elmqvist, H., Junghanns, A., Mauß, J., Monteiro, M., Neidhold, T., Neumerkel, D., et al.: The functional mockup interface for tool independent exchange of simulation models. In: Proceedings of the 8th International Modelica Conference; March 20th–22nd; Technical University Dresden, Germany. Linköping University Electronic Press (2011)

  11. Boulanger, F., Jacquet, C., Hardebolle, C., Prodan, I.: Tesl: a language for reconciling heterogeneous execution traces. In: 2014 Twelfth ACM/IEEE International Conference on Formal Methods and Models for Codesign (MEMOCODE), pp. 114–123. Lausanne, Switzerland (2014). https://doi.org/10.1109/MEMCOD.2014.6961849

  12. Concepcion, A.I., Zeigler, B.P.: DEVS formalism: a framework for hierarchical model development. IEEE Trans. Softw. Eng. 14(2), 228–241 (1988)

    Article  Google Scholar 

  13. Cortés Porto, R.: Integration of SystemC-AMS Simulation Platforms into TTool. Master’s thesis, Kaiserslautern (2018). www-soc.lip6.fr/~genius/research

  14. Cortés Porto, R., Genius, D., Apvrille, L.: Modeling and virtual prototyping for embedded systems on mixed-signal multicores. In: RAPIDO (2019)

  15. Damm, M., Grimm, C., Haas, J., Herrholz, A., Nebel, W.: Connecting SystemC-AMS models with OSCI TLM 2.0 models using temporal decoupling. In: FDL, pp. 25–30 (2008)

  16. Davare, A., Densmore, D., Meyerowitz, T., Pinto, A., Sangiovanni-Vincentelli, A., Yang, G., Zeng, H., Zhu, Q.: A next-generation design framework for platform-based design. In: Conference on Using Hardware Design and Verification Languages (DVCon), vol. 152 (2007)

  17. Demathieu, S., Thomas, F., André, C., Gérard, S., Terrier, F.: First experiments using the UML profile for MARTE. In: 2008 11th IEEE International Symposium on Object and Component-Oriented Real-Time Distributed Computing (ISORC), pp. 50–57. IEEE (2008)

  18. Einwich, K.: SystemC AMS PoC2.1 Library (2016)

  19. Fritzson, P., Engelson, V.: Modelica—a unified object-oriented language for system modeling and simulation. In: European Conference on Object-Oriented Programming, pp. 67–90. Springer, Berlin (1998)

  20. Genius, D., Cortés Porto, R., Apvrille, L., Pêcheux, F.: A tool for high-level modeling of analog/mixed signal embedded systems. In: MODELSWARD. Scitepress (2019)

  21. Genius, D., Li, L.W., Apvrille, L.: Model-driven performance evaluation and formal verification for multi-level embedded system design. In: MODELSWARD. SCITEPRESS (2017)

  22. H-Inception Consortium: Heterogeneous Inception Project (2012–2015). https://www-soc.lip6.fr/trac/hinception

  23. Herrera, F., Villar, E.: A framework for heterogeneous specification and design of electronic embedded systems in SystemC. ACM TODAES 12(3), 22 (2007)

    Article  Google Scholar 

  24. IEEE: SystemC. IEEE Standard 1666-2011 (2011)

  25. Jantsch, A.: Modeling Embedded Systems and SoC’s: Concurrency and Time in Models of Computation. Elsevier, Amsterdam (2003)

    Google Scholar 

  26. Jensen, K., Kristensen, L.M.: Coloured Petri Nets. Modelling and Validation of Concurrent Systems. Springer, Berlin (2009)

  27. Lee, E.A.: Disciplined heterogeneous modeling. In: Petriu, D., Rouquette, N., Haugen, O. (Eds.) MODELS, Springer LNCS 6395, pp. 273–287 (2010)

  28. Lee, E.A., Messerschmitt, D.G.: Synchronous data flow. Proc. IEEE 75, 1235–1245 (1987)

    Article  Google Scholar 

  29. Lee, E.A., Messerschmitt, D.G.: Static scheduling of synchronous data flow programs for digital signal processing. IEEE Trans. Comp. 36(1), 24–35 (1987). https://doi.org/10.1109/TC.1987.5009446

  30. Li, L.W., Genius, D., Apvrille, L.: Formal and virtual multi-level design space exploration. Springer Commun. Comput. Inf. Sci. 880, 66 (2018)

    Google Scholar 

  31. Mallet, F.: Clock constraint specification language: specifying clock constraints with UML/MARTE. Innov. Syst. Softw. Eng. 4(3), 309–314 (2008)

    Article  Google Scholar 

  32. Niaki, S.H.A., Jakobsen, M.K., Sulonen, T., Sander, I.: Formal heterogeneous system modeling with SystemC. In: FDL, pp. 160–167. IEEE (2012)

  33. Patel, H.D., Shukla, S.K.: Towards a heterogeneous simulation kernel for system-level models: a SystemC kernel for SDF models. TCAD 24(8), 1261–1271 (2005)

    Google Scholar 

  34. Selic, B., Gérard, S.: Modeling and Analysis of Real-Time and Embedded Systems with UML and MARTE: Developing Cyber-Physical Systems. Elsevier, Amsterdam (2013)

    Google Scholar 

  35. SocLib consortium: The SoCLib project: an integrated system-on-chip modelling and simulation platform. Tech. rep., CNRS (2003). www.soclib.fr

  36. Syriani, E., Gray, J., Vangheluwe, H.: Modeling a model transformation language. In: Domain Engineering, pp. 211–237. Springer, Berlin (2013)

  37. Taha, S., Radermacher, A., Gérard, S.: An entirely model-based framework for hardware design and simulation. In: Distributed, Parallel and Biologically Inspired Systems—7th IFIP TC 10 Working Conference, DIPES 2010 and 3rd IFIP TC 10 International Conference (BICC 2010), Held as Part of WCC 2010, Brisbane, Australia, September 20–23, 2010. Proceedings of the IFIP Advances in Information and Communication Technology, vol. 329, pp. 31–42. Springer, Berlin (2010)

  38. Vachoux, A., Grimm, C., Einwich, K.: Analog and mixed signal modelling with SystemC-AMS. In: ISCAS (3), pp. 914–917. IEEE (2003). http://ieeexplore.ieee.org/xpl/mostRecentIssue.jsp?punumber=8570

  39. Zhao, C., Kazmierski, T.J.: An extension to SystemC-A to support mixed-technology systems with distributed components. In: DATE, pp. 1–6. IEEE (2011)

  40. Zhu, J., Sander, I., Jantsch, A.: Hetmoc: Heterogeneous modelling in SystemC. In: FDL, pp. 1–6. IET (2010)

Download references

Author information

Authors and Affiliations

Authors

Corresponding author

Correspondence to Daniela Genius.

Additional information

Communicated by Eugene Syriani and Manuel Wimmer.

Publisher's Note

Springer Nature remains neutral with regard to jurisdictional claims in published maps and institutional affiliations.

Rights and permissions

Reprints and permissions

About this article

Check for updates. Verify currency and authenticity via CrossMark

Cite this article

Cortés Porto, R., Genius, D. & Apvrille, L. Handling causality and schedulability when designing and prototyping cyber-physical systems. Softw Syst Model 20, 667–683 (2021). https://doi.org/10.1007/s10270-021-00866-1

Download citation

  • Received:

  • Revised:

  • Accepted:

  • Published:

  • Issue Date:

  • DOI: https://doi.org/10.1007/s10270-021-00866-1

Keywords

Navigation