Crescendo Tool Support: User Manual

1 Crescendo Technical Report SeriesNo. TR-001 November 2013 Crescendo tool support : user ManualVersion Gorm Larsen, Kenneth Lausdahl, Joey Coleman and Sune WolffAarhus University, Department of EngineeringFinlandsgade 22, DK-8200 Aarhus N, DenmarkChristian Kleijn and Frank GroenControllab Products 500, 7521 AN Enschede, The NetherlandsCrescendo Co-Simulation for Embedded Control SystemsCrescendo tool support : user ManualDocument historyMonthYearVersionVersion of (then called DESTECS) (review by M. Verhoef)iiContents1 is the Crescendo tool ? .. was the DESTECS Project? .. is the Vienna Development Method? .. are Bond Graphs? .. Tools .. of this user Manual ..42 Basic Crescendo ..63 Getting Hold of the .. Installer.

2 Standalone ..84 Quick Start with Crescendo .. a Project .. a Project .. 125 Editors and Management of Crescendo Workbench .. View .. 18iiiCrescendo tool support : user View .. View .. Engine View .. View .. Projects .. new Projects .. Projects .. Projects .. Contracts .. a new Contract File .. of a Contract .. Detection in the Contract/Link File .. the Link Files .. Overview .. 306 Configuration .. a New Debug Configuration .. Tab .. Design Parameters Tab .. Simulator Tab .. Simulator Tab .. Tab .. Tab .. Tab .. a New Scenario File .. Syntax.

3 Examples .. Variables .. 407 Design Space Workflow .. the ACA Features .. Main Tab .. Architecture Tab - Deployment Architectures .. Design Parameters Tab .. Tab .. Settings Tab .. Tab .. a Single Launch Part of an ACA .. Launch Configuration .. Library .. the Control Library .. the Control Library .. Use .. Architecture .. setup .. in CT .. in DE .. 568 .. use in Crescendo .. Plot Automatically when Script is Run .. Octave from Crescendo .. Octave path .. Launch Configuration .. 60A Glossary65vCrescendo tool support : user ManualviABSTRACTThis document is the user Manual for the Crescendo Integrated Development Environment (IDE)version , enabling collaborative analysis of models written in the Discrete Event (DE) formal-ism VDM and the Continuous Time (CT) formalism bond graphs.

4 The specific dialect of VDMused is called VDM Real Time (VDM-RT) and it is supported by the Overture tool whereas thebond graph formalism is supported by the tool 20-sim. Both Crescendo and Overture are built ontop of the Eclipse What is the Crescendo tool ?The Crescendo tool was originally called the DESTECS tool since it was produced in the Euro-pean Seventh Framework research project called DESTECS (see Section below). It supports amethod of collaborative modelling and simulation What was the DESTECS Project?The DESTECS (Design support and Tooling for Embedded Control Software)1project was per-formed by a consortium of research groups and companies working on the challenge of develop-ing fault-tolerant embedded systems [BLV+10]. The consortium focussed on developing designmethods and tools that bridge the gap between the disciplines involved in designing an embeddedsystem: systems, control, mechanical and software engineering, for example.

5 DESTECS aimedto develop methods and tools that combine Continuous-Time (CT) models with Discrete-Event(DE) controller models through co-simulation to allow multi-disciplinary modelling, includingmodelling of faults and fault tolerance mechanisms. The analysis of these effects at every stagein a design process will help to build more dependable real-time embedded systems. The DEmodelling is carried out using the Vienna Development Method and its support tool Overture (seeSection below). The CT modelling is carried out using bond graphs and its support tool 20-sim(see Section below). What is the Vienna Development Method?The Vienna Development Method (VDM) is one of the oldest established model-oriented formalmethods for the development of computer-based systems and software [BJ78, Jon90, FLV08].

6 Itconsists of a group of mathematically well-founded languages for expressing and analysing tool support : user Manualmodels during early design stages, with the aim to reduce developments risks before expensive im-plementation commitments are made. VDM has a strong record of industrial applications, in manycases it has been used by practitioners who were not specialists in the underlying formalism orlogic [LH96, CCFJ99, KN09]. Experience with the method suggests that the effort spent on formalmodelling and analysis can be recovered easily in reduced rework costs arising from preventeddesign models are expressed in a specification language (VDM-SL) which supports the descrip-tion of data and functionality [ISO96, FL98, FL09]. Data is defined by means of abstract datatypes built using constructors that define structured data and collections such as sets, sequencesand mappings from basic values such as Booleans, reals, characters and natural numbers.

7 Thesetypes are very abstract, allowing you to add any relevant constraints using data type is defined in terms of operations over these data types. Operations can be definedimplicitly by preconditions and postconditions that characterize their behavior, or explicitly bymeans of specific algorithms. An extension of VDM-SL, called VDM++, supports object-orientedstructuring of models and also permits direct modelling of concurrency [FLM+05]. A furtherextension to VDM++, called VDM Real Time (VDM-RT2), which includes support for explicitcomputing and communication architectures for executing specific deployments of discrete timemodels [MBD+00, VLH06]. All three VDM dialects are supported by What are Bond Graphs?Bond graphs are directed graphs in which the vertices are submodels and the edges, calledbonds,denote the ideal (or idealised) exchange of energy between those submodels.

8 Entry points ofsubmodels are calledports. The exchange of energy through a port (p) is always described bytwo implicit variables, effort ( ) and flow ( ). The product of these variables is the amount ofenergy that passes through the port. The meaning of these two variables depends on the physicaldomain (examples include voltage and current, and force and velocity), which makes the methodideal for multi-domain 20-sim tool supports the creation and simulation of models that can be represented in avariety of forms, including basic bond graphs; collections of differential equations describing thebehaviour of nodes; and iconic diagram. Although the 20-sim tool is commercial, all the modellibraries are open source. The package supports mixed-mode integration techniques to allow themodelling and simulation of computer controlledphysical systemsthat contain Continuous-Timeas well as Discrete-Event elements.

9 The level of complexity of many modern controllers meansthat discrete-event elements are better modelled using a rich formalism such as VDM. The 20-simpackage supports the connection of external software both for model construction and simula-tion (Discrete-Event, Continuous-Time or hybrid), and this connection is exploited in providingsupport for called VDM In a Constrained Environment (VICE).2 CHAPTER 1. Related ToolsThe Crescendo tool is one of a family of tools with common shared OvertureTheOverturetool ( ) represents theopeningof these tools. This toolis build on top of the Eclipse platform and it support all the VDM dialects: VDM-SL, VDM++and VDM Real-Time (VDM-RT). Many different features are included but the emphasis is onvalidation of VDM models by interpretation of executable subsets.

10 This also includes support forDE notation VDM-RT used inside the Crescendo tool . Users who are only interested in DiscreteEvent (DE) modelling using one or more of the VDM dialects should use this Overture CrescendoTheCrescendotool ( ) is agradual increaseof the Overture tool inthe sense that it has all the support present inside Overture and in addition it supports collaborativemodelling and simulation with a combination of the DE notation VDM-RT and the ContinuousTime (CT) simulation by the 20-sim tool3. This is particular useful for those who are interested inmodelling and validation of embedded control systems including modelling of the physical plantsto be controlled. Users who are interested in both DE and CT modelling in a collaborative fashionshould use SymphonyTheSymphonytool ( ) is anextended musical compositioncarriedout by a large band ( a System of Systems).