CN104915514A - Time requirement modeling and verification method based on problem frame method - Google Patents
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Abstract
The invention discloses a time requirement modeling and verification method based on a problem frame method, which is used for modeling time requirements and verifying normative consistency of a time-critical system. The invention relates to the operations as follows: (1) defining an interaction and problem domain as a logical clock by using the concepts of the logical clock and clock relations in a clock constraint specification language (CCSL) based on a functional requirement model problem graph of the problem frame method; using clock constraint to define time constraint of an interaction environment (comprising the interaction and problem domain) of the time-critical software system to be developed, wherein the time constraint comprises quantitative and qualitative relations, establishing a time requirement model and exporting a time protocol of the system to be developed via time constraint of the environment; (2) defining formal semantics of the clock constraint, establishing a transformational rule from the clock constraint to an NuSMV description according to the semantic, using the rule to convert the time constraint into the NuSMV description, using a model detecting tool NuSMV to verify consistency of the time protocol according to a computation tree logic (CTL) expression of a consistent property.
Description
Technical field
The present invention is a kind of time Requirements Modeling based on problem framework method and verification method, for carrying out time Requirements Modeling and time specification verification to the time system of concerning.
Background technology
The time system that concerns is extremely important, and have a wide range of applications in fields such as track traffic, space flight, medical treatment, the execution due to the time is directly connected to the security of the lives and property of people, and the modeling of time demand and verification method are also many.Existing time Requirements Modeling method is mainly divided into two large classes: 1) based on the time Requirements Modeling of sequential logic; With 2) based on the time demand model of the formalization methods such as Timed Automata.Time demand based on sequential logic adopts sequential logic and expansion thereof to carry out the description of qualitative and quantitative, all describes time point and time period, in the description in quantitative, substantially realizes by introducing time variable.Time demand model based on formalization methods such as Timed Automatas is a lot, such as Timed Automata, and the period checks, time communicating sequetial process etc.These time models are all formal, also have the instrument supporting checking, such as UPPAL etc., but not quite suitable at the early application of demand.And these methods are not all based upon on function requirement modeling.
Summary of the invention
The object of the invention is to concern system for the time, a kind of time Requirements Modeling based on problem framework method proposed and verification method, the method on functional requirement basis by setting up time constraints relation, obtain time stipulations to describe, propose the conversion from time stipulations to model detector NuSMV, the consistance attribute of time stipulations is verified.The stipulations that the method uses and checking means, can reduce the ambiguity of time stipulations, can ensure again the quality of time stipulations.
First the present invention carries out modeling in conjunction with problem framework method and time constraints specification language (CCSL) to time demand, derivation time stipulations, be that NuSMV describes again by time protocol transform, utilize NuSMV model detector to carry out the consistency checking of stipulations.Specifically comprise the following steps:
Step 1) set up clock for problem domain each in problem figure
For each problem domain in problem figure sets up field clock d.C, wherein a d problem of representation field, C represents clock, and C comprises the strict preference set of relationship (<) between time point set I and time point.
First the definition of clock is provided.
Definition 1: clock (C)
C：＝＜I，＜＞
Wherein, I is time point set; < is the partial ordering relation be defined on I, called after strictly prior to.
Clock is divided into 2 kinds, field clock and mutual clock.Each problem domain initiates or receives a lot of mutual, and each is a clock alternately, is defined as mutual clock int.C.Each field clock is combined by the mutual clock in this field, and syntagmatic uses the union operator in CCSL, and even a field d has n alternately, then
d.C＝int1.C union int2.C…union intn.C
Step 2) be combination field modeling clock
This step is from the new clock of existing clock configuration, obtains by using clock operator.For each combination field, according to the meaning that the relation in it and sub-field and wanting is expressed, suitable operator is selected to carry out the clock in tectonic association field.It is identical mutual that mutually isostructural field represents that two fields have.
● if combination field d is by 2 mutually isostructural field d
1and d
2combine, want to express the slowest fast clock, then use sup constructor, i.e. d.C=d
1.C
1sup d
2.C
2.
● if combination field d is by mutually isostructural field d
1and d
2combine, want to express the fastest slow clock, then use inf constructor, i.e. d.C=d
1.C
1inf d
2.C
2.
● if combination field d is by the field d of different structure
1and d
2combine, use union constructor, i.e. d.C=d
1.C
1union d
2.C
2.
Step 3) establish qualitative relationships between clock
Qualitative relationships between clock (comprising field clock and mutual clock) comprises following 3 kinds:
● C
1subClock C
2be period of the day from 11 p.m. to 1 a.m owner member relation, it represents a clock C
1time point be his father's clock C
2a part for time point set, the problem domain that two clocks are corresponding also should have set membership.
● C
1fasterThan C
2represent clock d
1.C
1i-th time point will prior to clock C
2i-th time point occur.It has two versions, strict strictPre, and the nstrictPre of non-critical.
● C
1alternate C
2represent clock C
1and C
2alternately occur.
Step 4) establish quantitative relationship between clock
There is some quantitative relationship between the time point that quantitative relationship represents two clocks, the present invention only provides a kind of boundedDiff (i, j).
C
1boundedDiff (i, j) C
2mistiming between the time point representing these two clocks, i was negative integer, and j is positive integer within integer closed interval [i, j].
Step 5) derive system time stipulations to be developed;
For system definition clock C to be developed
sys, to each field d in problem figure
i
C
sys＝d
1.C
1union d
2.C
2union…dn.C
n。
Time stipulations are described as C
sysand relevant clock and time constraints, these constraints comprise step 1), step 2), step 3) and step 4) the various relations that obtain, attention, removes field symbol and inter-symbol, only retains clock symbol.
Step 6) transformation rule of establishment from time constraints to NuSMV
First set up the operational semantics of time constraints, the present invention uses label migratory system (Labeled Transition System, LTS) to provide.Time constraints had both comprised the qualitative and quantitative relation of clock, comprised again clock operator.Fig. 3 gives the LTS figure of time constraints, illustrates the operational semantics of these time constraints.
● C
1subClock C
2the semanteme of LTS, it only has a state, represent at any one time (in same migration), or two clocks all occur, or father's clock generation period of the day from 11 p.m. to 1 a.m clock does not occur, or two clocks does not occur.
● C
1fasterThan (containing stricPre and nstricPre) C
2semanteme, C
2each time point condition that can occur be the C that this time point is corresponding
1time point occurred, for guaranteeing C
2prematurely occur, need to monitor C
1shift to an earlier date (relative to C
2) there occurs how many under, so in its LTS semanteme, record the value of delta of the number of the time point that two clocks had occurred, different states corresponds to different δ numerical value, due to C
1compare C
2hurry up, δ>=0.State residing for the operator value of δ (namely at that time) determines that next which clock of moment can occur.Such as, in strict version stricPre, only has C when δ=0
1can occur, so work as C
1there is C
2time difference value δ does not occur and adds 1, operator state transition is to state s1.By that analogy, operator represents C at state s1 (δ=1)
1than C
2mostly occur, the so subsequent moment can C
1the independent δ of making adds 1, or C
2the independent δ of making value subtracts 1, or C
1and C
2all occur so that δ value is constant, or two clocks that certain δ value does not occur is also constant.
● C
1alternate C
2semanteme.C is only had time initial
1can occur, there is post-operator and to get the hang of 1, C in its
1cannot recur, only have C
2can occur, make operator get back to state s0, and so forth.Its running process will be C
1; C
2; C
1; C
2; ...
● C=C
1union C
2clock C
1arbitrary time point and C
2arbitrary time point all occur with the point sometime of C simultaneously, its represents at any one time, or C and C
1occur simultaneously, or C and C
2occur simultaneously, three clocks all to occur, or three clocks do not occur.
● C=C
1sup C
2in each time point get C
1and C
2the time point that middle generation is the slowest.Similar fasterThan relation, needs recording clock C
1and C
2whether the time point that the value of delta of the number of the time point occurred decides a certain moment C occurs and occurs with whom simultaneously.As clock C
1compare C
2time fast, C and C
2corresponding time point occurs simultaneously, on the contrary then with C
1corresponding time point occurs simultaneously.
● inf and sup is contrary, and it gets the time point occurred the soonest.
● C
1boundedDiff (i, j) C
2boundedDiff can be regarded as an expansion of fasterThan, define the border of value of delta, but do not specify which clock is faster.When the next time arrives, the clock on the right can not occur separately in the next moment, and when the upper bound arrives, the clock on the left side can not occur separately at subsequent time.
Secondly, the corresponding relation between LTS and the NuSMV setting up each time constraints, wherein each state transfer is a variable V AR, and each migration changes a transition TRANS into, and each action label changes a boolean type variable into.Concrete transformation rule is as shown in table 1:
The transformation rule of table 1 time-constrain LTS to NuSMV model:
Step 7) be that NuSMV describes by time protocol transform
Each time stipulations need to be converted to one " MODULE main ", and generate " VAR " at next line, then to each clock C in stipulations, export " c:boolean " and " init (c) :=FALSE ", to each time constraints cc, export " ctr:cc " with " ASSIGN "; To each time constraints, in step 6) timing relationship NuSMV support under, export its NuSMV template; The NuSMV generating stipulations thus describes.Its specific algorithm as shown in Figure 4.
Step 8) determine that the CTL of time stipulations consistance attribute describes
Be T={C for clock set
1, C
2..., C
ntime requirements specification, if claim these stipulations its NuSMV consistent to describe meet following two conditions:
(1) meet CTL formula EF (AGp), p=! (C
1| C
2| ... | C
n)
(2) to any C
ibelong to T, meet CTL formula EF (AGq), q=! C
i.
Step 9) time stipulations and consistance attribute are run at NuSMV, be verified the time stipulations after result and checking.
A kind of time Requirements Modeling based on problem framework of the present invention and verification method, for carrying out modeling and checking to the time system of concerning, can obtain time stipulations, and can the consistance of proving time requirements specification.Compared with the method in past, this method can on the basis of functional requirement, can the description time demand of qualitative and quantitative, and the consistance of formal proving time stipulations.
Accompanying drawing explanation
Fig. 1 is the problem figure of embodiment of the present invention ABS system;
Fig. 2 is schematic flow sheet of the present invention;
Fig. 3 is the Formal Semantic schematic diagram of timing relationship of the present invention;
Fig. 4 is the transfer algorithm that time stipulations of the present invention describe to NuSMV;
Fig. 5 is the clock figure of embodiment of the present invention ABS system;
Fig. 6 is the qualitative relationships figure of embodiment of the present invention ABS system.
Embodiment
Embodiment
In order to describe each step of the present invention in detail, the present embodiment selects anti-locking system for car (ABS) to be exemplarily described.
ABS comprises 4 sensors (Sensor ifl, ifr, irl, irr) and 4 actuators (Actuator ofl, ofr, orr, orl).The velocity of rotation of sensor sensing wheel, actuator characterizes the brake pressure put on wheel.The execution of ABS is triggered by R, and the value of 4 inductors of ABS arrives (also crying input synchronously) within certain delay, and input synchronization delay is 0.5ms.
Below in conjunction with accompanying drawing, the embodiment of the present invention is described below:
Step 1) set up clock for problem domain each in problem figure
Fig. 1 gives the problem figure of ABS system, for each problem domain in problem figure states a clock, in problem figure, sets up clock label to each problem domain, and the field clock figure of generation as shown in Figure 5.
Between ABS and Sensor, between ABS and Actuator alternately in table 2, wherein each mutual representation is the canonical representation form in problem framework method, "! " represent mutual promoter before, "! " represent mutual content afterwards.In order to simplify, the present invention uses int
ij(i can be 1,2,3 or 4, j be the name in field) represent that corresponding sub-field and ABS's is mutual.
Table 2 clock
Field is formed by the clock combination of interactions of being correlated with alternately, such as: relevant the having alternately of field ifl: int
1ifrand int
2ifr, then:
ifl.C
ifl＝int
1ifl.C
1iflunion int
2ifl.C
2ifl
Similarly, other interactive relation can be obtained:
Step 2) be combination field modeling clock
In the present embodiment, Sensor is the combination of ifl, ifr, irl and irr, and ifl, ifr, irl and irr have mutually isostructural field, and Sensor should show the slowest, obtains thus:
Sensor.C
sensor＝ifl.C
iflsup ifr.C
ifrsup irl.C
irlsup irr.C
irr
Similarly, Actuator can be obtained:
Actuator.C
Actuator＝ofl.C
oflsup ofr.C
ofrsup orl.C
orlsup orr.C
orr
Step 3) establish qualitative relationships between clock
Describe according to ABS system, int
1must at int
2occur, int before
3must at int
4occur before,
Get in 4 Sensor and occur as int the most slowly
1, C
int1=C
1iflinf C
1ifrinf C
1irlinf C
1irr
Get occur the soonest in 4 Sensor for int
2, C
int2=C
2iflsup C
2ifrsup C
2irlsup C
2irr
Int
1must at int
2occur before, be then expressed as:
C
int1alternate C
int2
At Sensor.C
senisorand Actuator.C
actuatorbetween, int
2must at int
3occur before.
Get the int occurred the most slowly in 4 Sensor
2, obtain C thus
int22=C
2iflinf C
2ifrinf C
2irlinf C
2irr
And int
3get that 4 Actuator occur the soonest, C thus
int3=int
3ofl.C
3oflsup int
3ofr.C
3ofrsup int
3orl.C
3orsup int
3orr.C
3orr
Then retrain int
2must at int
3be expressed as before:
C
int22alternate C
int3
Other timing relationship can be obtained in ABS similarly, as shown in Figure 6.
Step 4) establish quantitative relationship between clock
The input of a 0.5ms is synchronous.First input finding Sensor is needed to be C
1Sensor=C
1iflsup C
1iffsup C
1irlsup C
1ir, last input is C
int1=C
1iflinf C
1ifrinf C
1irlinf C
1irr
So the input of a 0.5ms synchronously can be expressed as:
C
1SensorboundedDrift_0_5 C
int1
Step 5) derive time stipulations
The clock of ABS system is defined as C
aBS, according to the problem figure of Fig. 1, visible, ABS and problem domain Sensor and Acutuator is mutual,
Then: C
aBS=Sensor.C
sensorunion Actuator.C
actuator
In conjunction with this step and step 1), step 2), step 3) and step 4) restriction relation (remove field and mutual mark) of associated clock that obtains, obtain the time stipulations of ABS system, as shown in table 3.
Table 3 ABS system time stipulations
Step 6) transformation rule of establishment from time constraints to NuSMV
In ABS system, the time constraints of conversion is needed to comprise union, sup, inf, alternate, and boundedDrift.According to transformation rule, generate the NuSMV template of these time constraints:
Step 7) be converted to NuSMV describe verify
According to transfer algorithm, the NuSMV file that the time stipulations of ABS system generate is as follows:
Step 8) determine time requirements specification consistance attribute description
In ABS, clock set T={C
aBS, C
sensor, C
actuator, C
ifl, C
ifr, C
irl, C
irr, C
ofl, C
ofr, C
orl, C
orr, C
1ifl, C
2ifl, C
1irr, C
2irr, C
3ofl, C
4ofl, C
3ofr, C
4ofr, C
3orr, C
4orr, C
3orl, C
4orl, C
int1, C
int2, C
int22, C
int3, C
1Sensor, C
1sensor2, C
1, C
2, C
3, C
4, C
5, C
6, C
7, C
8, C
9, C
10, C
11, C
sen1, C
sen2, C
sen3, C
act1, C
act2, C
act3}
In consistance attribute, p=! (C
aBS| C
sensor| C
actuator| C
ifl| C
ifr| C
irl| C
irr| C
ofl| C
ofr| C
orl| C
orr| C
1ifl| C
2ifl| C
1irr| C
2irr| C
3ofl| C
4ofl| C
3ofr| C
4ofr| C
3orr| C
4orr| C
3orl| C
4orl| C
int1| C
int2| C
int22| C
int3| C
1Sensor| C
1sensor2| C
1| C
2| C
3| C
4| C
5| C
6| C
7| C
8| C
9| C
1o| C
11| C
sen1| C
sen2| C
sen3| C
act1| C
act2| C
act3)
Step 9) to run in NuSMV, display result is for causing.
Claims (9)
1., based on time Requirements Modeling and the verification method of problem framework, it is characterized in that the method comprises the steps:
Step 1) set up clock for problem domain each in problem figure;
Step 2) be combination field modeling clock;
Step 3) establish qualitative relationships between clock;
Step 4) establish quantitative relationship between clock;
Step 5) derive system time stipulations to be developed;
Step 6) transformation rule of establishment from time constraints to NuSMV;
Step 7) be that NuSMV describes by time protocol transform;
Step 8) determine that the CTL of time stipulations consistance attribute describes;
Step 9) stipulations and consistance attribute are run at NuSMV, be verified the time stipulations after result and checking.
2. method according to claim 1, it is characterized in that described step 1) in, for each problem domain in problem figure sets up field clock d.C, wherein a d problem of representation field, C represents clock, and C comprises the strict preference set of relationship StricPre between time point set I and time point; Each field clock is combined by the mutual clock in this field, and syntagmatic uses the union operator in CCSL.
3. method according to claim 1, it is characterized in that described step 2) in, if there is combination field in problem figure, namely this field is combined by multiple subproblem field, then its clock is constructed by sub-field clock, structure adopts the clock operator in CCSL, and clock operator comprises: sup, inf and union; Wherein, sup represents time point the slowest inside the fast clock of selection, and inf represents time point the fastest inside the slow clock of selection, and union represents all time points selecting all clocks.
4. method according to claim 1, is characterized in that described step 3) establish qualitative relationships between clock, be specially:
Following qualitative relationships is there is between clock:
● C
1subClock C
2be period of the day from 11 p.m. to 1 a.m owner member relation, it represents a clock C
1time point be his father's clock C
2a part for time point set, the problem domain that two clocks are corresponding also should have set membership;
● C
1fasterThan C
2represent clock C
1i-th time point will prior to clock C
2i-th time point occur; It has two versions, strict strictPre and the nstrictPre of non-critical;
● C
1alternate C
2represent clock C
1and C
2alternately put generation if having time.
5. method according to claim 1, is characterized in that described step 4) establish the quantitative relationship of clock, between clock, quantitative relationship is expressed as:
C
1boundedDrift (i, j) C
2mistiming between the time point representing these two clocks, i was negative integer, and j is positive integer within integer closed interval [i, j].
6. method according to claim 1, is characterized in that described step 5) derive system time stipulations to be developed, be specially:
For system definition clock C to be developed
sys, it combines union by each problem domain clock in problem figure and forms; Time stipulations are described as C
sysand relevant clock and timing relationship, wherein relation comprises step 3) qualitative relationships that obtains and step 4) quantitative relationship that obtains.
7. method according to claim 1, is characterized in that described step 6) transformation rule of establishment from time constraints to NuSMV, be specially:
First set up the operational semantics of time constraints, operational semantics is provided by the status change model based on abstract state machine that label migratory system LTS-mono-kind is traditional; Secondly, the corresponding relation between LTS and the NuSMV setting up each time constraints, wherein each state transfer is a variable V AR, and each migration changes a transition TRANS into, and each action label changes a boolean type variable into.
8. method according to claim 1, is characterized in that described step 7) be that NuSMV describes by time protocol transform, be specially:
Each time stipulations need to be converted to one " MODULE main ", and generate " VAR " at next line, then to each clock C in stipulations, export " c:boolean " and " init (c) :=FALSE ", to each time constraints cc, export " ctr:cc " with " ASSIGN "; To each time constraints, in step 6) timing relationship NuSMV support under, export its NuSMV template; The NuSMV generating stipulations thus describes.
9. method according to claim 1, is characterized in that described step 8) determine that the CTL of time requirements specification consistance attribute describes, be specially;
Be T={C for clock set
1, C
2..., C
ntime stipulations, if claim these stipulations its NuSMV consistent to describe meet following two conditions:
(1) meet CTL formula EF (AGp), p=! (C
1| C
2| ... | C
n)
(2) to any C
ibelong to T, meet CTL formula EF (AGq), q=! C
i.
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| CN112329208A (en) * | 2020-10-16 | 2021-02-05 | 南京航空航天大学 | Method for realizing modeling and verification of multi-clock-constrained collaborative unmanned system |
| CN112329208B (en) * | 2020-10-16 | 2024-05-17 | 南京航空航天大学 | Modeling and verification implementation method of multi-clock constraint cooperative unmanned system |
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