Clafer: Lightweight Modeling of Structure, Behaviour, and Variability

Embedded software is growing fast in size and complexity, leading to intimate mixture of complex architectures and complex control. Consequently, software specification requires modeling both structures and behaviour of systems. Unfortunately, existing languages do not integrate these aspects well, usually prioritizing one of them. It is common to develop a separate language for each of these facets. In this paper, we contribute Clafer: a small language that attempts to tackle this challenge. It combines rich structural modeling with state of the art behavioural formalisms. We are not aware of any other modeling language that seamlessly combines these facets common to system and software modeling. We show how Clafer, in a single unified syntax and semantics, allows capturing feature models (variability), component models, discrete control models (automata) and variability encompassing all these aspects. The language is built on top of first order logic with quantifiers over basic entities (for modeling structures) combined with linear temporal logic (for modeling behaviour). On top of this semantic foundation we build a simple but expressive syntax, enriched with carefully selected syntactic expansions that cover hierarchical modeling, associations, automata, scenarios, and Dwyer's property patterns. We evaluate Clafer using a power window case study, and comparing it against other notations that substantially overlap with its scope (SysML, AADL, Temporal OCL and Live Sequence Charts), discussing benefits and perils of using a single notation for the purpose

Translating alloy apecifications to UML class diagrams annotated with OCL

Proceedings of the 9th International Conference on Software Engineering and Formal MethodsModel-Driven Engineering (MDE) is a Software Engineering approach based on model transformations at different abstraction levels. It prescribes the development of software by successively transforming models from abstract (specifications) to more concrete ones (code). Alloy is an increasingly popular lightweight formal specification language that supports automatic verification. Unfortunately, its widespread industrial adoption is hampered by the lack of an ecosystem of MDE tools, namely code generators. This paper presents a model transformation between Alloy and UML Class Diagrams annotated with OCL. The proposed transformation enables current UML-based tools to also be applied to Alloy specifications, thus unleashing its potential for MDE

A UML/OCL framework for the analysis of fraph transformation rules

In this paper we present an approach for the analysis of graph transformation rules based on an intermediate OCL representation. We translate different rule semantics into OCL, together with the properties of interest (like rule applicability, conflicts or independence). The intermediate representation serves three purposes: (i) it allows the seamless integration of graph transformation rules with the MOF and OCL standards, and enables taking the meta-model and its OCL constraints (i.e. well-formedness rules) into account when verifying the correctness of the rules; (ii) it permits the interoperability of graph transformation concepts with a number of standards-based model-driven development tools; and (iii) it makes available a plethora of OCL tools to actually perform the rule analysis. This approach is especially useful to analyse the operational semantics of Domain Specific Visual Languages. We have automated these ideas by providing designers with tools for the graphical specification and analysis of graph transformation rules, including a backannotation mechanism that presents the analysis results in terms of the original language notation

Modeling and Testing a Family of Surgical Robots: An Experience Report

Safety-critical applications often use dependability cases to validate that specified properties are invariant, or to demonstrate a counter example showing how that property might be violated. However, most dependability cases are written with a single product in mind. At the same time, software product lines (families of related software products) have been studied with the goal of modeling variability and commonality, and building family based techniques for both analysis and testing. However, there has been little work on building an end to end dependability case for a software product line (where a property is modeled, a counter example is found and then validated as a true positive via testing), and none that we know of in an emerging safety-critical domain, that of robotic surgery. In this paper, we study a family of surgical robots, that combine hardware and software, and are highly configurable, representing over 1300 unique robots. At the same time, they are considered safety-critical and should have associated dependability cases. We perform a case study to understand how we can bring together lightweight formal analysis, feature modeling, and testing to provide an end to end pipeline to find potential violations of important safety properties. In the process, we learned that there are some interesting and open challenges for the research community, which if solved will lead towards more dependable safety-critical cyber-physical systems

TriCheck: Memory Model Verification at the Trisection of Software, Hardware, and ISA

Memory consistency models (MCMs) which govern inter-module interactions in a shared memory system, are a significant, yet often under-appreciated, aspect of system design. MCMs are defined at the various layers of the hardware-software stack, requiring thoroughly verified specifications, compilers, and implementations at the interfaces between layers. Current verification techniques evaluate segments of the system stack in isolation, such as proving compiler mappings from a high-level language (HLL) to an ISA or proving validity of a microarchitectural implementation of an ISA. This paper makes a case for full-stack MCM verification and provides a toolflow, TriCheck, capable of verifying that the HLL, compiler, ISA, and implementation collectively uphold MCM requirements. The work showcases TriCheck's ability to evaluate a proposed ISA MCM in order to ensure that each layer and each mapping is correct and complete. Specifically, we apply TriCheck to the open source RISC-V ISA, seeking to verify accurate, efficient, and legal compilations from C11. We uncover under-specifications and potential inefficiencies in the current RISC-V ISA documentation and identify possible solutions for each. As an example, we find that a RISC-V-compliant microarchitecture allows 144 outcomes forbidden by C11 to be observed out of 1,701 litmus tests examined. Overall, this paper demonstrates the necessity of full-stack verification for detecting MCM-related bugs in the hardware-software stack.Comment: Proceedings of the Twenty-Second International Conference on Architectural Support for Programming Languages and Operating System

Behavior models for software architecture

Monterey Phoenix (MP) is an approach to formal software system architecture specification based on behavior models. Architecture modeling focuses not only on the activities and interactions within the system, but also on the interactions between the system and its environment, providing an abstraction for interaction specification. The behavior of the system is defined as a set of events (event trace) with two basic relations: precedence and inclusion. The structure of possible event traces is specified using event grammars and other constraints organized into schemas. The separation of the interaction description from the components behavior is an essential MP feature. The schema framework is amenable to stepwise architecture refinement, reuse, composition, visualization, and multiple view extraction. The approach yields a basis for executable architecture specification supporting early testing and verification, systematic use case generation, and performance estimates with automated tools.Consortium for Robotics and Unmanned Systems Education and Research (CRUSER)Consortium for Robotics and Unmanned Systems Education and Research (CRUSER)Approved for public release; distribution is unlimited.Approved for public release; distribution is unlimited