SMU SM

Tactical Systems Tactical Systems Common Operating Common Operating Environment (TS-Environment (TS-

COE)COE)

Team A1Team A1

Williamson, Williamson, MacFarlane, CrabtreeMacFarlane, Crabtree

ProblemProblem

Re-implementing Common Functions on Re-implementing Common Functions on multiple Projects with no requirements multiple Projects with no requirements changeschanges

Application Code locked to O/S and Application Code locked to O/S and HardwareHardware

Difficult to test Software reliably before Difficult to test Software reliably before Target Hardware is readyTarget Hardware is ready

Requirements/AssumptionsRequirements/Assumptions

Maximum Use of COTS Processors and Maximum Use of COTS Processors and Operating SystemsOperating Systems

Handle High Bandwidth Sensors and DSPHandle High Bandwidth Sensors and DSPApplication DomainApplication Domain

– Static ThreadsStatic Threads– Static SchedulingStatic Scheduling– Simulation before HardwareSimulation before Hardware

TS-COETS-COE

Tactical Systems Common Operating Tactical Systems Common Operating Environment (TS-COE)Environment (TS-COE)– Language, O/S IndependentLanguage, O/S Independent– Product and a Design MethodologyProduct and a Design Methodology– Simple to ImplementSimple to Implement– Improves Embedded, Real-Time Software Improves Embedded, Real-Time Software

Productivity and ReliabilityProductivity and Reliability

TS-COE FacilitiesTS-COE Facilities

Facility DescriptionTask Management Creation, Delay and Destruction of

Tasks/ProcessesMail Named, Broadcast MessagingEvent Processing Task Blocking, Prioritized Event HandlingTimers High Resolution, Event driven TimersInstrumentation Application Data LoggingSemaphore/MutexSystem Time Timer or Sensor (e.g. Video Frame Time) Driven

Global System TimeExecution Trace Application Inserted Milestone LoggingException HandingImage and SensorManagement

Configurable, platform independent sensorextraction

Critical Sections andDelays

Critical sections and processor locking criticaldelays.

Reprogramming Bus independent processor reprogrammingNVM Management Non-volatile Memory Management with Error

Checking and Wear Leveling

From Board Vendor

MCCR

COE

Typical TS-COE Software Layers

Legacy API

Applications

COE Extensions

COE

Hardware

VxWorks/BSP/Drivers

Legacy WrapperDrivers

BoardSpecs

TS-COE Sub-LayersTS-COE Sub-Layers

API

Logic Layer

O/S and Communication Bindings

EndpointsEndpoints(implemented one or more per thread)(implemented one or more per thread)

Mail

Thread popsone mailbox ata time out ofendpoint andprocesses it

Registered mail goes inhere when sent by sendingthread(s) (FIFO)

Sending thread(s)Receiving thread(owns the pipe/endpoint)

Design MethodologyDesign Methodology

Decomposition into TasksDecomposition into TasksInter-task CommunicationInter-task Communication

– Sequence DiagramsSequence Diagrams

Task State Machine DesignTask State Machine Design– State ChartsState Charts

Coding to Thread TemplatesCoding to Thread TemplatesSimulationSimulationUniversal Test Driver (UTD)Universal Test Driver (UTD)

Application InterfacesApplication Interfaces(documented in sequence diagrams)(documented in sequence diagrams)

MissileGuidance FmControl

threads

Arm

GuidanceResults

Mailboxes(across VME andshared memory)

Sample State ChartSample State Chart

Sample UTD Input FilesSample UTD Input Files

outfile=server:/home/brad/no_nfov.instframecount=117860imagefile=server:/home/brad/bsruns/img/exbs117860.migfocuscount=0infile=server:/home/brad/bsruns/bs_dimming/bs11_27/wfov_dim/wfov_dim.in

abc00007 0abc00001 0abc0004c 1abc00017 0abc0002f 2abc00007 21561504abc00007 29557035abc00007 32178441

Other ApproachesOther Approaches

RT-COERT-COE– DAPRA ProjectDAPRA Project– Large Scale ComputingLarge Scale Computing

RT-CORBART-CORBA– DII COE Recommended for weapons system DII COE Recommended for weapons system

domaindomain– Client/Server Distributed ObjectClient/Server Distributed Object