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Communicatin Centered Programming for Embedded Systems Sakura - - PowerPoint PPT Presentation

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Communicatin Centered Programming for Embedded Systems Sakura Bhandari, Shoji Yuen (Nagoya University) Presented at SOA workshop in APSEC2007 (Dec. 2007, Nagoya) 1 Basics09 workshop( ), 10/12/2009 Motivation: Behavior descriptions

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Sakura Bhandari, Shoji Yuen (Nagoya University) Presented at SOA workshop in APSEC2007 (Dec. 2007, Nagoya)

Communicatin Centered Programming for Embedded Systems

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Basics09 workshop(上海), 10/12/2009

Motivation: Behavior descriptions for embedded system software

 Embedded systems in multi/many cores

Many cores are cheaper

 Control over critical components

Verification/Certification

 Low-level coding

Direct real-time device control (by interrupt)

 Time-aware behavior

Real-time constraints

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Target Overview

EPP theory of a process calculus:

System(C1,C2,C3) ~ C1’|C2’|C3’’

Does this work for embedded system software?

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Target Overview

EPP theory of a process calculus:

System(C1,C2,C3) ~ C1’|C2’|C3’’

Does this work for embedded system software? extension is necessary

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Contents

 Overview of Communication Centered

Programming

 Extension with Priority (in Home Appliance

Network)

 Concluding Remarks and Future Directions

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Communication Centered Programming [Carbone,Honda,Yoshida06]

Global Description：Communication between agents Local Description: Behavior at each agent Transformation from GD to LD: End-point Projection

Behavioral correctness: bisimularity Communication correctness: session type Endpoint Calculus : (A version of) typed π calculus Send message (op,v) in session s and v is stored in x at B To Ensures EPP for GD=3 type principles

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Communication Centered Programming for WS

CCP is successfully applied for Web Services Business Protocol/SOA for enterprise systems

CCP implements ‘Choreograpy’ in Web Services

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Global Description

Operational Semantics：

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Local Description

Behavioral semantics： Defined by π-like SOS rules

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Well-structuredness in Global descriptions

 Three principles for global descriptions

 Connectedness  Well-threadedness  Coherence

Well-typed in session types

（Example） I : interaction among Buyer,Seller,Shipper

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EPP (End Point Projection)

Theorem

  • 1. EPP preserves the session type
  • 2. EPP generates sound and complete local descriptions.

(Up to structural congruence and pruning)

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Application to Embedded systems

 Embedded Systems requires more properties

real-time, Priority, (and probability) Framwork for system development (not limited to embedded systems)

Extension in syntax/semantics

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Priority in choreography

P1 P2 P3 P1 communicates with P3 unless P2 wishes to communicate P2 communicates with P3 unless P1 wishes to communicate P3 communicates with P2 unless P1 wishes to communicate Globally: P1>P2>P3 Can the global priority be extended in local priority?

  • n the limited form of Global Descriptions (Guarded/Regular)

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Services in Home Network System

Due to the dynamic nature of home appliance network

Appliances export their own features to the network

No centralized server exists

SOA Based Home Network System

  • ff
  • n

small

Light

play stop

  • ff

DVD Player TV

video_on channel_on

  • ff

Appliances can be dynamically added and modified

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Services in Home Network System

Due to the dynamic nature of home appliance network

Appliances export their own features to the network

No centralized server exists

SOA Based Home Network System

  • ff
  • n

small

Light

play stop

  • ff

DVD Player TV

video_on channel_on

  • ff

Appliances can be dynamically added and modified

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Services in Home Network System

Due to the dynamic nature of home appliance network

Appliances export their own features to the network

No centralized server exists

SOA Based Home Network System

  • ff
  • n

small

Light

play stop

  • ff

DVD Player TV

video_on channel_on

  • ff

Loosely Coupled Appliances can be dynamically added and modified

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play video_on small

CCP for home appliances

Example of DVD play interaction

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USER → DVD : chDVD (νsDVD ). DVD → TV : chTV : (νtDVD ). TV → LIGHT1 : chLIGHT1 (νuDVD ). USER → DVD : sDVD<play>. DVD → TV : tDVD<video_on>. TV → LIGHT1 : uDVD<small>.0

Global Description

play video_on small

CCP for home appliances

Example of DVD play interaction

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USER → DVD : chDVD (νsDVD ). DVD → TV : chTV : (νtDVD ). TV → LIGHT1 : chLIGHT1 (νuDVD ). USER → DVD : sDVD<play>. DVD → TV : tDVD<video_on>. TV → LIGHT1 : uDVD<small>.0

Global Description

play video_on small

CCP for home appliances

DVD [ chDVD(νs). chTV(νs). s ▷ play. s ◁ video_on. ] TV [ !chTV(νt). chLIGHT1(νu). t ▷ video_on. u ◁ small ] LIGHT1 [ !chLIGHT1(νu). u ▷ small ]

Local Descriptions

Example of DVD play interaction

EPP

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

Interference

  • ccurs

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

Interference

  • ccurs

Interference... a phenomenon where two interactions include two difgerent functions of a common appliance

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

We assign priority to each interaction which can conflict with others

Interference

  • ccurs

Interference... a phenomenon where two interactions include two difgerent functions of a common appliance

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

p1 p2

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

p1 p2

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

p1 p2

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Behavioral interference

An interference example between the DVD Play Interaction and the Coming Home Interaction

User plays the DVD User opens the Door The air conditioner switches on The light turns on The light turns ofg The TV is set to the video mode

p1 p2

interference will not occur !!

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Priority wrt CCP

To resolve interference within the Communication Centered Programming...

EPP

(End Point Projection)

Integrated Services Appliance Behavior

Local Description Global Description Global Description Global Description Global Description Local Description Local Description

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Priority wrt CCP

To resolve interference within the Communication Centered Programming...

EPP

(End Point Projection)

Integrated Services Appliance Behavior

Local Description Global Description Global Description Global Description Global Description Local Description Local Description

with Priority

with Priority with Priority with Priority with Priority

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Priority wrt CCP

To resolve interference within the Communication Centered Programming...

EPP

(End Point Projection)

Integrated Services Appliance Behavior

Local Description Global Description Global Description Global Description Global Description Local Description Local Description

with Priority

with Priority with Priority with Priority with Priority with Priority with Priority with Priority

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Global Description with Priority

Priority Altering Operator

...maps the priority to all interactions in the service

Σpmap P

An example for DVD Service

DVD Service[ DVD Play Interaction p1 + p3 DVD Stop Interaction ]

For a binary case where services P includes I1 and I2

I1 p1+p2 I2

pmap(I1) = p1 pmap(I2) = p2

We write as

for binary choice

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Global Description with Priority

Priority Altering Operator

...maps the priority to all interactions in the service

Σpmap P

An example for DVD Service

DVD Service[ DVD Play Interaction p1 + p3 DVD Stop Interaction ]

For a binary case where services P includes I1 and I2

I1 p1+p2 I2

pmap(I1) = p1 pmap(I2) = p2

We write as

for binary choice

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Example for Global Description

DVDSERVICE : (

USER → DVD : chDVD (νsDVD ). DVD → TV : chTV : (νtDVD ). TV → LIGHT1 : chLIGHT1 (νuDVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νvDVD ). USER → DVD : chDVD (νs′DVD ). DVD → TV : chTV (νt′DVD ). TV → LIGHT1 : chLIGHT1 (νu′DVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νv′DVD ). recX.( USER → DVD : sDVD<play>. DVD → TV : tDVD<video_on>. TV → LIGHT1 : uDVD<small>. LIGHT1 → CURTAIN1 : vDVD<down>.X p1 + p3 USER → DVD : s′DVD<stop>. DVD → TV : t′DVD<channel on>. TV → LIGHT1 : u′DVD<on>. LIGHT1 → CURTAIN1 : v′DVD<up>.X ) )

I1: DVD Play I2: DVD Stop DVD Service

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Example for Global Description

DVDSERVICE : (

USER → DVD : chDVD (νsDVD ). DVD → TV : chTV : (νtDVD ). TV → LIGHT1 : chLIGHT1 (νuDVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νvDVD ). USER → DVD : chDVD (νs′DVD ). DVD → TV : chTV (νt′DVD ). TV → LIGHT1 : chLIGHT1 (νu′DVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νv′DVD ). recX.( USER → DVD : sDVD<play>. DVD → TV : tDVD<video_on>. TV → LIGHT1 : uDVD<small>. LIGHT1 → CURTAIN1 : vDVD<down>.X p1 + p3 USER → DVD : s′DVD<stop>. DVD → TV : t′DVD<channel on>. TV → LIGHT1 : u′DVD<on>. LIGHT1 → CURTAIN1 : v′DVD<up>.X ) )

session initialization I1: DVD Play I2: DVD Stop DVD Service

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Example for Global Description

DVDSERVICE : (

USER → DVD : chDVD (νsDVD ). DVD → TV : chTV : (νtDVD ). TV → LIGHT1 : chLIGHT1 (νuDVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νvDVD ). USER → DVD : chDVD (νs′DVD ). DVD → TV : chTV (νt′DVD ). TV → LIGHT1 : chLIGHT1 (νu′DVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νv′DVD ). recX.( USER → DVD : sDVD<play>. DVD → TV : tDVD<video_on>. TV → LIGHT1 : uDVD<small>. LIGHT1 → CURTAIN1 : vDVD<down>.X p1 + p3 USER → DVD : s′DVD<stop>. DVD → TV : t′DVD<channel on>. TV → LIGHT1 : u′DVD<on>. LIGHT1 → CURTAIN1 : v′DVD<up>.X ) )

description for DVD play interaction description for DVD stop interaction I1: DVD Play I2: DVD Stop DVD Service

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Example for Global Description

DVDSERVICE : (

USER → DVD : chDVD (νsDVD ). DVD → TV : chTV : (νtDVD ). TV → LIGHT1 : chLIGHT1 (νuDVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νvDVD ). USER → DVD : chDVD (νs′DVD ). DVD → TV : chTV (νt′DVD ). TV → LIGHT1 : chLIGHT1 (νu′DVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νv′DVD ). recX.( USER → DVD : sDVD<play>. DVD → TV : tDVD<video_on>. TV → LIGHT1 : uDVD<small>. LIGHT1 → CURTAIN1 : vDVD<down>.X p1 + p3 USER → DVD : s′DVD<stop>. DVD → TV : t′DVD<channel on>. TV → LIGHT1 : u′DVD<on>. LIGHT1 → CURTAIN1 : v′DVD<up>.X ) )

description for DVD play interaction description for DVD stop interaction I1: DVD Play I2: DVD Stop DVD Service

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Example for Global Description

DVDSERVICE : (

USER → DVD : chDVD (νsDVD ). DVD → TV : chTV : (νtDVD ). TV → LIGHT1 : chLIGHT1 (νuDVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νvDVD ). USER → DVD : chDVD (νs′DVD ). DVD → TV : chTV (νt′DVD ). TV → LIGHT1 : chLIGHT1 (νu′DVD ). LIGHT1 → CURTAIN1 : chCURTAIN1 (νv′DVD ). recX.( USER → DVD : sDVD<play>. DVD → TV : tDVD<video_on>. TV → LIGHT1 : uDVD<small>. LIGHT1 → CURTAIN1 : vDVD<down>.X p1 + p3 USER → DVD : s′DVD<stop>. DVD → TV : t′DVD<channel on>. TV → LIGHT1 : u′DVD<on>. LIGHT1 → CURTAIN1 : v′DVD<up>.X ) )

description for DVD play interaction description for DVD stop interaction I1: DVD Play I2: DVD Stop DVD Service

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Local Description with Priority

Priority Guard

...an idea borrowed from CPG(CCS with priority guards) by Phillips[P’01]

A priority guard is written as U : a , where U is a set

  • f sessions and operations

communication “a” can be executed if no operator in U is executed at that time

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Example for Local Description

LIGHT1[

chLIGHT1 (uDVD, TV). chCURTAIN1 (vDVD, LIGHT1). vDVD ◁ ack. uDVD ▹ ack. chLIGHT1 (u′DVD, TV). chCURTAIN1 (v′DVD, LIGHT1). v′DVD ◁ ack. u′DVD ▹ ack. chLIGHT1 (uIO, AIR_CON). chPHONE (vIO, LIGHT1). vIO ◁ ack. uIO ▹ ack. chLIGHT1 (t′DAY, LIGHTG). chLIGHT2 (u′DAY, LIGHT1). u′ DAY ◁ ack. t′DAY ▹ ack. recX.( uDVD ◁ smallplay .vDVD ▹ downplay .vDVD ◁ ack. uDVD ▹ ack. X + u′ DVD ◁ onstop .v′DVD ▹ upstop .v′DVD ◁ ack. u′DVD ▹ ack. X + (uDVD , smallplay ) : uIO ◁ onin .vIO ▹ onin .vIO ◁ ack. uIO ▹ ack. X + (uDVD , smallplay ) : t′DAY ◁ oneven .u′DAY ▹ oneven . u′DAY ◁ ack. t′DAY ▹ ack. X )

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Example for Local Description

LIGHT1[

chLIGHT1 (uDVD, TV). chCURTAIN1 (vDVD, LIGHT1). vDVD ◁ ack. uDVD ▹ ack. chLIGHT1 (u′DVD, TV). chCURTAIN1 (v′DVD, LIGHT1). v′DVD ◁ ack. u′DVD ▹ ack. chLIGHT1 (uIO, AIR_CON). chPHONE (vIO, LIGHT1). vIO ◁ ack. uIO ▹ ack. chLIGHT1 (t′DAY, LIGHTG). chLIGHT2 (u′DAY, LIGHT1). u′ DAY ◁ ack. t′DAY ▹ ack. recX.( uDVD ◁ smallplay .vDVD ▹ downplay .vDVD ◁ ack. uDVD ▹ ack. X + u′ DVD ◁ onstop .v′DVD ▹ upstop .v′DVD ◁ ack. u′DVD ▹ ack. X + (uDVD , smallplay ) : uIO ◁ onin .vIO ▹ onin .vIO ◁ ack. uIO ▹ ack. X + (uDVD , smallplay ) : t′DAY ◁ oneven .u′DAY ▹ oneven . u′DAY ◁ ack. t′DAY ▹ ack. X )

session initialization

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Example for Local Description

LIGHT1[

chLIGHT1 (uDVD, TV). chCURTAIN1 (vDVD, LIGHT1). vDVD ◁ ack. uDVD ▹ ack. chLIGHT1 (u′DVD, TV). chCURTAIN1 (v′DVD, LIGHT1). v′DVD ◁ ack. u′DVD ▹ ack. chLIGHT1 (uIO, AIR_CON). chPHONE (vIO, LIGHT1). vIO ◁ ack. uIO ▹ ack. chLIGHT1 (t′DAY, LIGHTG). chLIGHT2 (u′DAY, LIGHT1). u′ DAY ◁ ack. t′DAY ▹ ack. recX.( uDVD ◁ smallplay .vDVD ▹ downplay .vDVD ◁ ack. uDVD ▹ ack. X + u′ DVD ◁ onstop .v′DVD ▹ upstop .v′DVD ◁ ack. u′DVD ▹ ack. X + (uDVD , smallplay ) : uIO ◁ onin .vIO ▹ onin .vIO ◁ ack. uIO ▹ ack. X + (uDVD , smallplay ) : t′DAY ◁ oneven .u′DAY ▹ oneven . u′DAY ◁ ack. t′DAY ▹ ack. X ) DVD Play Interaction DVD Stop Interaction Coming Home Interaction Evening Interaction

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Example for Local Description

LIGHT1[

chLIGHT1 (uDVD, TV). chCURTAIN1 (vDVD, LIGHT1). vDVD ◁ ack. uDVD ▹ ack. chLIGHT1 (u′DVD, TV). chCURTAIN1 (v′DVD, LIGHT1). v′DVD ◁ ack. u′DVD ▹ ack. chLIGHT1 (uIO, AIR_CON). chPHONE (vIO, LIGHT1). vIO ◁ ack. uIO ▹ ack. chLIGHT1 (t′DAY, LIGHTG). chLIGHT2 (u′DAY, LIGHT1). u′ DAY ◁ ack. t′DAY ▹ ack. recX.( uDVD ◁ smallplay .vDVD ▹ downplay .vDVD ◁ ack. uDVD ▹ ack. X + u′ DVD ◁ onstop .v′DVD ▹ upstop .v′DVD ◁ ack. u′DVD ▹ ack. X + (uDVD , smallplay ) : uIO ◁ onin .vIO ▹ onin .vIO ◁ ack. uIO ▹ ack. X + (uDVD , smallplay ) : t′DAY ◁ oneven .u′DAY ▹ oneven . u′DAY ◁ ack. t′DAY ▹ ack. X ) DVD Play Interaction DVD Stop Interaction Coming Home Interaction Evening Interaction

Priority Guard

LIGHT1 can execute the coming home interaction only if the

  • perator smallplay in the priority guard is not executing at that time

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EPP with Priority

Several examples of interactions

Based the equivalence of global and local descriptions EPP fits with the descriptions with priority

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EPP with Priority

Several examples of interactions

Global Description with priority

EPP with priority

Local Description with priority Local Description with priority Local Description with priority

Each step of the global description corresponds to that of the local descriptions derived from the global descriptions

Global Description with priority’

EPP with priority

Local Description with priority Local Description with priority Local Description with priority

Based the equivalence of global and local descriptions EPP fits with the descriptions with priority

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Remarks

 Fine-grained controls by communication with priority → extend the existing framework for web services  EPP as a foundation for compositional development for distributed systems  Application to home appliance network with priority  Global description is simple (Guraded/Regular)

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Future Directions

  • Timed process calculi with EPP
  • Application to larger examples

(Automotive software)

  • General theory of EPP with time/priority
  • Interrupts / Exceptions

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