CN116680885A - Complex device control software modeling and verification method based on SysML and Tango - Google Patents
Complex device control software modeling and verification method based on SysML and Tango Download PDFInfo
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Abstract
The application discloses a complex device control software modeling and verification method based on SysML and Tango, which comprises the following steps: constructing a Tango meta-model field expansion library based on SysML, wherein the expansion library contains key element information such as functions, attributes and states; constructing a domain template library for equipment service software development business flow based on SysML; the device service software model is quickly built through parameterized modeling; verifying the service software state logic of the equipment through system behavior simulation; automatically generating a code frame of equipment service control software through a model conversion and code generation tool; and realizing software requirement index design and verification through activity diagram and parameter diagram simulation. The application solves the problems of consistency of control software document expression, standardization of software development process, multiplexing of heterogeneous equipment service software and the like in the development of the complex device control system, and greatly improves the reliability and development efficiency of equipment service software development of the large complex device control system.
Description
Technical Field
The application relates to the technical field of complex device control systems, in particular to a complex device control software modeling and verification method based on SysML and Tango.
Background
The complex device control system, especially the laser device control system, has the characteristics of numerous equipment components, huge control scale, complex control process, long construction time, long operation period and the like. This requires a better maintainability and scalability of its control system to meet future control demands of the device. The integrated control scheme based on Tango can effectively solve the problems of integration and long-period maintenance and upgrading of complex heterogeneous hardware equipment, but the problems of inconsistent document description, difficult change, lack of verification of control logic and control performance, low multiplexing rate of software design knowledge and the like exist in the current document-based control software development and management mode, and the development, integration debugging efficiency and quality of the integrated control system of the device are restricted.
Model-based system engineering (Model-Based Systems Engineering, MBSE) is a formalized reference to modeling methods such that modeling methods support activities such as system requirements, design, analysis, verification, and validation, starting at a conceptual design stage and continuing through to design development and later lifecycle stages. The method is combined with Tango control software, and consistency of control requirement description, simulation verification of control logic and control performance and multiplexing of control software design can be realized through calculation means such as formal modeling, simulation verification and model analysis management.
At present, the development of the domestic complex device control system mainly focuses on the development of software and document-based process management, and an effective system engineering means is lacked to realize the support of the full life cycle of complex device control software.
Disclosure of Invention
The application mainly aims to provide a complex device control software modeling and verification method based on SysML and Tango so as to solve the problems.
Constructing a field expansion library of a Tango meta-model based on SysML, wherein key element information including functions, attributes and states is formed;
constructing a domain template library for equipment service software development business flow based on SysML;
quickly constructing a device service software model through parameterized modeling;
verifying the service software state logic of the equipment through system behavior simulation;
automatically generating a code frame of equipment service control software through a model conversion and code generation tool;
and verifying the software requirement index through the simulation of the activity map and the parameter map.
Further, the complex device control software modeling and verification tool set comprises:
the system comprises a SysML system modeling tool, a SysML service interface, an activity graph simulation engine, a Pogo code generating tool, tango software, a Tango software testing module and a Tango CI/CD deployment and monitoring tool.
Further, the constructing the domain template library for the equipment service software development business process based on the SysML includes:
user requirements, software design, software testing, software running and other whole-flow element information and various equipment templates including a stepping motor, an oscilloscope and a CCD, and the efficiency and the expression consistency of model modeling are improved in a modularized and templated mode.
Further, the device service software model is quickly built through parameterized modeling, and the method comprises the following steps: the parameterized modeling of the control software is realized in a guide and table mode, and the usability of the modeling process is improved.
Further, the verifying the service software state logic of the device through the system behavior simulation comprises the following steps: simulation verification means such as model generation, equipment state simulation, functional performance and other requirement index verification based on SysML and Tango software construction ensure the correctness of software design logic, the testability of developed software and the traceability of the requirement related technical index.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application, are incorporated in and constitute a part of this specification. The drawings and their description are illustrative of the application and are not to be construed as unduly limiting the application. In the drawings:
FIG. 1 is a flow chart of modeling and verification of a complex device control software based on SysML and Tango according to the present application;
FIG. 2 is a framework diagram of modeling and verification of complex device control software based on SysML and Tango according to the present application;
FIG. 3 is a V-type modeling and verification flow chart of the complex device control software modeling and verification based on SysML and Tango according to the present application;
FIG. 4 is a diagram of a Tango Profile model object definition according to the present application;
FIG. 5 is a diagram of a data type definition of Tango Profile according to the present application;
FIG. 6 is an expanded view of a stepper motor field according to the present application;
FIG. 7 is a diagram of a stepper motor model definition according to the present application;
fig. 8 is a logic diagram of a stepper motor according to the present application.
Detailed Description
In order that those skilled in the art will better understand the present application, a technical solution in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present application, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present application without making any inventive effort, shall fall within the scope of the present application.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate in order to describe the embodiments of the application herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present application, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "middle", "vertical", "horizontal", "lateral", "longitudinal" and the like indicate an azimuth or a positional relationship based on that shown in the drawings. These terms are only used to better describe the present application and its embodiments and are not intended to limit the scope of the indicated devices, elements or components to the particular orientations or to configure and operate in the particular orientations.
Also, some of the terms described above may be used to indicate other meanings in addition to orientation or positional relationships, for example, the term "upper" may also be used to indicate some sort of attachment or connection in some cases. The specific meaning of these terms in the present application will be understood by those of ordinary skill in the art according to the specific circumstances.
Furthermore, the terms "mounted," "acquired," "provided," "connected," "coupled," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; may be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements, or components. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. It should be understood that in the description of the present application, the term "storage medium" may be a variety of media that can store computer programs, such as ROM, RAM, magnetic or optical disks, unless explicitly stated and limited otherwise. The term "processor" may be a chip or circuit with data processing functions, such as a CPLD (Complex Programmable Logic Device: complex programmable logic device), an FPGA (Field-Programmable Gate information array: field programmable gate array), an MCU (Microcontroller Unit: micro control unit), a PLC (Programmable Logic Controller: programmable logic controller), and a CPU (Central Processing Unit: central processing unit). The term "electronic device" may be any device having data processing and storage functions, and may generally include both fixed terminals and mobile terminals. Fixed terminals such as desktops and the like. Mobile terminals such as cell phones, PADs, mobile robots, and the like. In addition, the technical features of the different embodiments of the application described later can be combined with each other as long as they do not collide with each other.
It should be noted that, without conflict, the embodiments of the present application and features of the embodiments may be combined with each other. The application will be described in detail below with reference to the drawings in connection with embodiments.
Examples
The federal database system construction flow in this embodiment is shown in fig. 1, and the method includes the following steps:
step one: constructing a Tango meta-model field expansion library based on SysML, wherein the expansion library contains key element information such as functions, attributes and states;
step two: constructing a domain template library for equipment service software development business flow based on SysML;
step three: the device service software model is quickly built through parameterized modeling;
step four: verifying the service software state logic of the equipment through system behavior simulation;
step five: automatically generating a code frame of equipment service control software through a model conversion and code generation tool;
step six: and realizing software requirement index design and verification through activity diagram and parameter diagram simulation.
Further: step 1, constructing a Tango meta-model field library, and mainly expanding and defining basic element information such as data types, state machine states, read-write types, attributes, methods, classes, traceability relations and the like related to the Tango based on SysML basic elements and a general model library.
Further: step 2, dividing the development process of control software into steps of user demand, software design, code generation, coding, unit test, software test and the like, and expressing the element information in a system model through modeling element information such as demand, structure, activity, state, use case, traceability relation and the like; on the basis, the modularization and the parameterization of the equipment service software modeling are realized, the system model is split into templates such as requirements, structures, behaviors, parameters and the like, the modularization equipment service software modeling is realized, the system model family of different types is built according to the types of hardware equipment, and the parameterization modeling of the same type of software, such as a motor, a CCD, an oscilloscope, an AWG and the like, is realized.
Further: step 3, quick modeling of the same type of software is realized by adopting a guide technology, key attribute information of different types of meta is extracted, parameterized element information is defined in a form of a table, configuration of related information such as requirements, software description, property, methods, attributes and state machines in a system model is respectively realized, finally, a guide generator defines the generation sequence of service software of different devices, and modeling of different types of devices is realized in an existing or newly-built model;
further: and 4, constructing behavior simulation logic based on the mixture of the activity diagram and the state machine diagram, expressing the software function by the activity node, constructing a behavior model transformed by function call and state machine state, and realizing the simulation based on the fuml activity diagram simulation engine.
Further: and 5, constructing a model conversion rule of SysML and Tango Pogo platform independence, realizing conversion from a system model to a Pogo XMI file, wherein the mapping rule comprises class information, property, attribute, function, state and other information, and converting the platform independence model into a platform correlation model, such as C++, python, java and the like, through a Pogo correlation code generation tool.
Further: and 6, constructing a complete complex device control software modeling and developing platform based on a SysML model and an equipment service software development tool set, realizing a unit test of control software and a test template of complex logic control through a Tango client, and realizing the tracing of required technical indexes including functional indexes, performance indexes and the like through a model interaction interface based on the SysML model.
Compared with the prior art, the application has the beneficial effects that
By adopting a system engineering method based on SysML and Tango, the consistency of the related technical document description of the software process can be effectively ensured;
according to the software development engineering practice, the model is modularized and parameterized, so that the modeling efficiency and reusability of the model are improved;
and constructing a complete Tango software modeling and development flow, and ensuring the rationality and traceability of the software interface design through behavior simulation and parameter association.
Examples
A complex device control software modeling and verification method based on SysML and Tango, as shown in fig. 1 to 8, the method comprising the steps of:
step 1, defining data types, properties and status signals of tan go through attribute definition (Attribute definition), defining device service states, attribute reading and writing, attribute data formats and display levels through enumeration definition (energy definition), defining functions through action definition (action definition), and defining device abstract classes through block definition (PartDefinition). The specific definition is as follows:
the data type TangoDataType comprises a scalar type and an array type, and the expansion of the element type is realized through inheritance relation, wherein the scalar type comprises DevBoolean, devShort, devEnum, devLong, devLong, devFloat, devDouble, devString, devEncoded, devUChar, devUShort, devULong, devULong and the like; array types include DevVarCharArray, devVarShortArray, devVarLongArray, devVarStringArray, devVarFloatArray, devVarDoubleArray, devVarUShortArray, devVarULongArray, devVarULong64Array, devVarLongStringArray, etc.;
attribute def TangoDataType;
attribute def TangoScalarValue :>TangoDataType;
attribute def TangoVectroValue :>TangoDataType;
attribute def DevBoolean :>TangoScalarValue;
attribute def DevVarCharArray :>TangoVectroValue;
a device state DevState and a device state signal, the former including 14 states such as ON, OFF, CLOSED, OPEN, INSERT, EXTRACT, MOVING, STANDBY, FAULT, INIT, RUNNING, ALARM, DISABLE, UNKNOWN; the latter defines the device status signal in 14 by Attribute def.
enum def DevState {
enum ON;
enum OFF;
…
}
Attribute def signalON；
Attribute def signalOFF；
…
The READ-WRITE attribute AttrWriteType, data type and DispLevel display level respectively comprise READ, READ_WITH_ WRITE, WRITE, READ _WRITE, WT_UNKNOWN, SCALAR, SPECTRUM, IMAGE, FMT _UNKNOWN and the like;
attribute def DevProperty: property, including a value and a description of two properties, the value can be associated with a data type;
attribute def DevAttribute attribute DevAttribute: information including read-write property, data type, value, x length, y length, description, label, unit, minimum value, maximum value, etc.;
action def DevCommand, including input parameters and output parameters;
part def TangoClass: the device class includes field information such as class description field, class Property, device Property, command, scalar attribute, array attribute, image attribute, and status.
part def TangoClass {
attribute class_family : String;
attribute platform : String;
attribute bus : String;
attribute manufacturer : String;
attribute programl_language : String;
attribute project_title : String;
attribute description : String;
attribute copyright : String;
attribute classProperties : DevProperty[*];
attribute deviceProperties : DevProperty[*];
action commands : DevCommand [*];
attribute scalarAttributies : DevAttribute[*];
attribute spectrumAttributies : DevAttribute[*];
attribute imageAttributes : DevAttribute[*];
state def States;
}
Step 2, constructing a requirement description, definition, traceability and verification relation by a value-based requirement; describing user requirements and structural requirements by requirement definition, including text words information (ReqId, reqText, name), value attributes (attributeusages) and constraint expressions (constraint usages), dividing the requirements into functional requirements, performance requirements, interface requirements, design requirements and the like, and defining objects such as actions, values, interfaces, block uses and the like of the requirements by semantics; the specific requirements are instantiated by using the requirement use, the association relation between the requirements and the model elements is built through the satisfaction relation (satisfy), and whether the index requirements are satisfied is checked through the constraint module (constraint).
Constructing an RFLP template library in a database, dividing the RFLP template library into key element information such as template types, template IDs, model references, template names, template descriptions and the like, and persisting the model element information into the SysML template library through a model element export function of SysML software, so that a user is allowed to browse the template library in a tree form and edit the function; the software model template library is classified according to the object type of the hardware equipment and the hardware communication mode, and can be searched according to key fields such as a modeling stage, a hardware type, an interface type and the like.
In the SysML software, in a newly built or seen model, the rapid construction of a system module is realized by multiplexing the model in a template library.
Step 3, templating class, property, commands, scale attribute, spectrum attribute, image attribute and command of the Tango control software, and externally providing a table format-based model element modeling method by a meta-model mechanism based on SysML, wherein the description information of the elements is as follows:
classProperties, deviceProperties: the class description information displays related information in the class of class_ family, platform, bus, manufacturer, programl _language and the like in the form of attribute names and attribute values, and is generated through model elements such as attributeUsage, redefinition, featureValue and the like;
properties: the class Property displays attribute names, attribute types, description information and attribute values and is generated through name, attributeUsage, redefinition, featureValue, featureTyping and other meta-model types;
commands: a command, which displays function names, input types, input parameters, output types, output parameters, description information and the like, and is generated through name, actionUsage, redefinition, featureValue, featureTyping meta-model types and the like;
scalarAttributies, spectrumAttributies, imageAttributes: the field based on DevAttribute displays three different types of attribute fields;
the device state is displayed by a state name and a state description and is generated by metamodel types such as stateusages.
All the elements establish the relation with the collection through the subsets. The model wizard respectively exposes the field information and provides the functions of adding, deleting and checking the attributes, and the modification of each attribute can influence the associated element information.
Step 4, a state machine of equipment service software is built through elements such as state use, signals and receiving actions, and the association relation between equipment service software commands and the state machine is built through activities, control nodes, sending signals, receiving signals and the like, when a model receives equipment control signals, execution of related activity commands is started, after the model is executed, equipment state changes, and equipment state change signals are sent out; and the state machine executes corresponding operation according to the received state information. Taking a stepper motor as an example, the state machine is defined as follows:
state stateMachine : States {
entry; then init;
state init;
then running;
state running {
state off;
accept signalON
then on;
state on;
accept signalMOVING
then moving;
accept signalOFF
then off;
state moving;
accept signalON
then on;
accept signalFAULT
then fault;
state fault;
accept signalON
then on;
accept signalOFF
then off;
}
accept signalEXIT
then quit;
state quit : DeviceExit;
}
the device behavior execution logic is as follows:
action execLogic {
first start;
then merge m;
then fork forkAll;
action PowerOn;
then m;
action PowerOff;
then m;
action StopMove;
then m;
action RelativeMove;
then m;
action AbsMove;
then m;
action MoveToHome;
then m;
action Reset;
then m;
action trigger1 accept signalPowerOn;
action trigger2 accept signalPowerOff;
action trigger3 accept signalStopMove;
action trigger4 accept signalAbsMove;
action trigger5 accept signalRelativeMove;
action trigger6 accept signalMoveToHome;
action trigger7 accept signalReset;
first forkAll then trigger1;
first forkAll then trigger2;
first forkAll then trigger3;
first forkAll then trigger4;
first forkAll then trigger5;
first forkAll then trigger6;
first forkAll then trigger7;
first trigger1 then PowerOn;
first trigger2 then PowerOff;
first trigger3 then StopMove;
first trigger4 then RelativeMove;
first trigger5 then AbsMove;
first trigger6 then MoveToHome;
first trigger7 then Reset;
}
and 5, generating a pogo Dsl xmi file by the system model and a tago pogo (between code generation tools) through a model conversion mapping rule, and realizing compatibility with a pogo software persistence model. The conversion rule is as follows:
classProperties：
name<- el.name;
description<- el.Description. featureValue;
<type xsi:type="pogoDsl:%sType"/><- el.value.featureTyping;
<DefaultPropValue>%s</DefaultPropValue><- el.value.featureValue;
Commands:
Name<- el.name;
Description<- el.Description.featureValue;
<argin description="%s"><- el. in_para.comment;
<argin …>/n<type xsi:type="pogoDsl:%s"/><- el. out_para.featureTyping;
<argout description="%s"><- el. out_para.comment;
<argout…>/n<type xsi:type="pogoDsl:%s"/><- el. out_para.featureTyping;
Attributes:
Name<- el.name;
Description<- el.Description.featureValue;
attType<- el. data_format.name;
rwType<- el. writable.name;
displayLevel<-el. display_level.name;
<dataType xsi:type="pogoDsl:%sType"/><-el.value.featueTyping;
<properties description="%s"<-el. description.featureValue;
States：
Name<- el.name;
Description<- el. description.featureValue;
step 6, defining the use cases of the function test and the performance test based on use case verification (Verification Case Definition), wherein the single use case is represented by an active actionuse; meanwhile, a Tango software client test module is defined, a test template of commands, attributes and states is realized, a mapping relation between test cases and an activity diagram is established, and integration of the test cases and software tests is realized.
The SysML modeling software externally provides an element association interface of a model and an element level, wherein the former provides a model query function based on a model id, and the latter provides an element adding, deleting, checking and modifying function based on the model id and the element id. And based on the interface, the table format check and matrix type traceability functions are realized, and when the test case is executed, check results are backfilled into the table, and finally the function and performance requirement index verification are completed.
It should be noted that the steps illustrated in the flowcharts of the figures may be performed in a computer system such as a set of computer executable instructions, and that although a logical order is illustrated in the flowcharts, in some cases the steps illustrated or described may be performed in an order other than that illustrated herein.
It will be apparent to those skilled in the art that the modules or steps of the application described above may be implemented in a general purpose computing device, they may be concentrated on a single computing device, or distributed across a network of computing devices, or they may alternatively be implemented in program code executable by computing devices, such that they may be stored in a memory device for execution by the computing devices, or they may be separately fabricated into individual integrated circuit modules, or multiple modules or steps within them may be fabricated into a single integrated circuit module. Thus, the present application is not limited to any specific combination of hardware and software.
The above description is only of the preferred embodiments of the present application and is not intended to limit the present application, but various modifications and variations can be made to the present application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (5)
1. The complex device control software modeling and verification method based on SysML and Tango is characterized by comprising the following steps:
constructing a field expansion library of a Tango meta-model based on SysML, wherein key element information including functions, attributes and states is formed;
constructing a domain template library for equipment service software development business flow based on SysML;
quickly constructing a device service software model through parameterized modeling;
verifying the service software state logic of the equipment through system behavior simulation;
automatically generating a code frame of equipment service control software through a model conversion and code generation tool;
and verifying the software requirement index through the simulation of the activity map and the parameter map.
2. The complex device control software modeling and verification method based on SysML and Tango of claim 1, further comprising a complex device control software modeling and verification tool set comprising:
the system comprises a SysML system modeling tool, a SysML service interface, an activity graph simulation engine, a Pogo code generating tool, tango software, a Tango software testing module and a Tango CI/CD deployment and monitoring tool.
3. The complex device control software modeling and verification method based on SysML and Tango according to claim 1, wherein the building of the domain template library for the device service software development business process based on SysML comprises:
user requirements, software design, software testing, software running and other whole-flow element information and various equipment templates including a stepping motor, an oscilloscope and a CCD, and the efficiency and the expression consistency of model modeling are improved in a modularized and templated mode.
4. The complex device control software modeling and verification method based on SysML and Tango according to claim 1, wherein said fast building of equipment service software model by parametric modeling comprises:
the parameterized modeling of the control software is realized in a guide and table mode, and the usability of the modeling process is improved.
5. The complex device control software modeling and verification method based on SysML and Tango according to claim 1, wherein said verifying device service software state logic by system behavior simulation comprises:
simulation verification means such as model generation, equipment state simulation, functional performance and other requirement index verification based on SysML and Tango software construction ensure the correctness of software design logic, the testability of developed software and the traceability of the requirement related technical index.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117473871A (en) * | 2023-11-08 | 2024-01-30 | 上海安托信息技术有限公司 | Formalized system modeling method based on CATIA (computer aided three-dimensional architecture) Magic |
| CN117634229A (en) * | 2024-01-26 | 2024-03-01 | 成都赢瑞科技有限公司 | Nested logic simulation model based on SysML activity diagram and construction method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117473871A (en) * | 2023-11-08 | 2024-01-30 | 上海安托信息技术有限公司 | Formalized system modeling method based on CATIA (computer aided three-dimensional architecture) Magic |
| CN117473871B (en) * | 2023-11-08 | 2024-05-03 | 上海安托信息技术有限公司 | Formalized system modeling method based on CATIA MAGIC |
| CN117634229A (en) * | 2024-01-26 | 2024-03-01 | 成都赢瑞科技有限公司 | Nested logic simulation model based on SysML activity diagram and construction method |
| CN117634229B (en) * | 2024-01-26 | 2024-04-30 | 成都赢瑞科技有限公司 | Nested logic simulation model based on SysML activity diagram and construction method |
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