MGSyn User Manual
Contents
1. 3 Within the Eclipse IDE select File Import General gt Existing Projects into Workspace and click on Next gt 4 Click on the Browse button next to the Select root directory input and se lect the folder where you have extracted the archive to The MGSynTestcase project should appear in the list of projects Make sure the box next to the project name is checked 5 Click on Finish After following these steps your Package Explorer view should look similar to the one shown in Figure 3 Step 2 2 Understanding the System Model We will now have a quick look at a system model of the example project to understand its basic structure 1 From within the Project Explorer right click on the file MGSynTestcase gt src gt metamodel gt T01_FESTOGarching2color xmi and choose Open With Sample Reflective Ecore Model Editor 2 In the file view open the nodes until Hardware Model Formal Model and Topology Model are visible These are the three basic parts of the model 3 Open the Hardware Model node You will see a list of the following types of nodes MGSyn User Manual 5 fs Hierarchy 4 i2 MGSynTestcase a sre 4 B metamodel Checks chk Extensions ext MGSyn ecore 4 B model TO1_FESTOGarching2color xmi T02_FESTOGarching3color xmi TO3_FESTOfortiss xmi src gen BA JRE System Library J2SE 1 5 amp META INF or build properties Fig 3 Package Explorer view after importing2. s MGSynTestcase a src 4 EB metamodel Checks chk Extensions ext MGSyn ecore 4 B model B Result_T01_domain pddl B Result_T01_problem pddl Result_TO1_strategy tet TO1_FESTOGarching2color xmi NI T02_FESTOGarching3color xmi T03_FESTOfortiss xmi E src gen mA JRE System Library J2SE 1 5 META INF ai build properties a Fig 7 Intermediate results of synthesis 3 Invoking Platform Transformation Generating Executable Code and Executing the Simulator In this section we describe how users can use MGSyn with accompanied software packages to perform interactive simulation Simulation means that the operator takes control of Environment s moves i e he or she can feed the sensor readings to the synthesized program whenever necessary The total required time for this experiment is about 10 to 15 minutes if required programs and tools are already installed You will need the following CMake Makefile generator Since the tool synthesizes executable C C code CMake is used to configure the build environment Perl Script based translation of strategies in intermediate form to a C C file This is a preliminary requirement that might not be needed any more in future versions of MGSyn On the Windows platform you can use Ac tivePerl on Linux you should already have Perl installed or it is available as a package for your distribution C C compiler Compilation of the generated C C code to a n
3. select appropriate options On the Win dows platform choose Visual Studio 10 and leave the rest as is Figure 11 Wait until the configuration process finishes Click on Generate Close CMake A CMake 2 8 6 D interpreter build Ge naaaeea n File Tools Options Help Where is the source code _ interpreter Browse Source Where to build the binaries D interpreter build v Browse Build Search Grouped Advanced ep Add Entry X Remove Entry Name Value Press Configure to update and display new values in red then press Generate to generate selected build files Configure Generate Current Generator Visual Studio 10 Fig 10 Directory settings for CMake Step 5 Compile and Run Open Visual C 2010 Express or Professional Select File gt Open Project Solution Browse the folder interpreter build and select the project file MGSyn Microsoft Visual Studio Solution On the Solution Explorer Figure 12 right click on MGSyn and select Set as StartUp project Freom the menu select Debug gt Start Debugging In some cases the com piler might complain about insonsistent line endings Figure 12 on the error list In this case double click the error message select Yes to resolve the MGSyn User Manual 15 Specify the generator for this project Visual Studio 10 7 Use default native compiler
4. solutions by a certain cost bound Imagine the following motivating example Your automation line has many sensors and actuators each of them consumes a certain power when in use for example switching on the motor of a conveyor belt to transport a work piece consumes a certain amount of power However we only have a very limited power supply attached to the system The interesting question now is Can we synthesize a strategy for a given goal that limits worst case power consumption such as the power supply is never overloaded The answer ist yes we can Quantitative synthesis can be used to achieve this by annotating the model accordingly MGSyn User Manual 17 gt Inconsistent Line Endings E The line endings in the following file are not consistent Do you want to normalize the line endings d interpreter new_file_strategy cpp Line ending Windows CR LF wa F Always show this dialog Fig 13 Resolving the line ending problem Every actuation and sensor triggering needs to be annotated with the amount of power that it consumes This is done in the Cost field of the respective be havioral interface definition e g System Model Hardware Model Actu ation belt move right click Show Properties View gt Cost Magnitude of costs should be kept as low as possible while still allowing to distinguish between costly and non costly operations A high worst case magnitu
5. for 64 bit for download Step 1 2 Downloading Eclipse Modeling Framework We offer the fol lowing download options For Windows all versions Download the bundled version from the website file folder MGSyn supplementary files or alternatively 32 bit version only here http www6 in tum de chengch mgsyn eclipse_windows_32bit zip For Linux 32 bit Download the bundled version from the website file folder MGSyn supplementary files or alternatively here http www6 in tum de chengch mgsyn eclipse_linux32 tar gz Otherwise download Eclipse Modeling Framework from the Eclipse website Go to http www eclipse org downloads packages release helios sr2 and choose Eclipse Modeling Tools includes Incubating components Download the 32 or 64 bit version corresponding to your Java version Step 1 3 Installing Eclipse Modeling Framework On Windows Extract the archive to your Program Files x86 directory 32 bit Eclipse on on 64 bit systems or Program Files 64 bit Eclipse on 64 bit systems or 32 bit Eclipse on 32 bit systems On Linux Extract the archive to the opt directory Step 1 4 Adapting Eclipse s Memory Settings MGSyn s solver engine uses quite some memory to calculate a strategy However Eclipse will only use 512 MB of memory by default This will make the solver run out of memory In order to properly run the solver follow these steps MGSyn User Manual 3 1 Open the eclipse ini fi
6. not offer the translation script to executable for specifications other than reachability or reachability safety References 1 Eclipse Modeling Framework http www eclipse org modeling emf 2 CIROS Engineering CIROS Studio http www ciros engineering com en products virtual_engineering ciros_studio 2012 3 C H Cheng A Knoll M Luttenberger and C Buckl GAVS An open framework for the research of algorithmic game solving In Proceedings of the 17th International Conference on Tools and Algorithms for the Construction and Analysis of Systems TACAS 11 volume 6605 of LNCS pages 258 261 Springer Verlag 2011
7. MGSyn User Manual June 5 2012 Chih Hong Cheng and Michael Geisinger 1 Department of Informatics Technische Universitat M nchen Boltzmannstr 3 85748 Garching bei Miinchen Germany 2 fortiss GmbH Guerickestr 25 80805 Miinchen Germany http sourceforge net projects mgsyn Abstract This manual gives information how to install and use the MGSyn tool for design synthesis and code generation of industrial control systems 1 Introduction 1 1 Basic Description and License MGSyn Model Game Synthesis is an open source framework and tool for syn thesizing control code for industrial automation systems from high level spec ifications MGSyn combines the game based synthesis tool GAVS 3 with a model based specification in Eclipse Modeling Framework EMF 1 It is de veloped by fortiss GmbH and is offered for research and educational purposes The software is released under the GNU General Public License v3 The soft ware executable jar and its source code are available at the tool website 1 2 Features The synthesis engine of MGSyn is based on recent advances and optimizations in algorithmic game theory Our main motivation in developing MGSyn is to demonstrate on real life plants and industrial automation problems that these advances are useful for programming control algorithms in a dependable and also efficient way The model driven paradigms of EMF allow to specify comprehensive input models for MGSyn Model
8. a folder of your choice It creates a folder called interpreter Step 2 Generating Intermediate and Hardware Mapping Code Select a model within the project e g T01_FESTOGarching2color xmi right click to trigger popup menu Select Verification MGSyn Automatic game based synthesis Figure 5 Then in the MGSyn configuration window Figure 6 choose the following options On the General Transformation tab select Generate architecture script from model On the Output tab set the File header name to new_file Leave the other options as is Click on Finish The engine performs synthesis and creates the following files compare Figure 9 1 new file_domain pddl only used in an intermediate step 2 new file_problem pddl only used in an intermediate step 3 new _file_strategy txt winning strategy that will be translated into a cpp file using a Perl script 4 new file mapping txt contains architecture mapping instructions and will serve as the main entry point into the simulator program MGSyn User Manual 13 fg Hierarchy O S 4 ico MGSynTestcase 4 src 4 B metamodel Checks chk Extensions ext MGSyn ecore 4 B model B new_file_domain pddl B new_file_mapping tet B new_file_problem pddl B new_file_strategy tet TO1_FESTOGarching2color xmi T02_FESTOGarching3color xmi A T03_FESTOfortiss xmi src gen mA JRE System Library J2SE 1 5 amp META INF o
9. al Model part change the Activated field of Property 2 to true and change the Activated field of Property 1 to false Execute again Step 3 This time it can be observed that the generated strategy is slightly more complicated because of the explanation above 10 C H Cheng and M Geisinger Listing 1 1 Goal specification in PDDL and Orientation of work piece is known or face balll up face balll down or a gt b 7aV b If work piece is facing up not face balll up ce Bree TI eee and 58 ous OSDI Ch US Cried ce drilled balll 2 oat WG sox and or a gt b r7aV 6b if work piece is red not color balli red abe UCM ce o2 ao CHUIDCR jm py UO ILA op IGG at balll RASO1 L1A at balll RASO1 L1B and a AEA Be or tf the rack is occupied and rack occupied RASOI L1A yes rack occupied RASOI L1B yes not rack occupied RASOI L1A no not rack occupied RASOI L1B no jj move work piece to CB03from at ball1l CB03 from Analogously for white work piece Color of work piece is known or color balll red color balll white or a gt b n7aV 6b If work piece is NOT facing up not face balll down Se eae Deepa and Be oan WO INCOM Grill Bb oos not drilled balli jj and move it to CB03 from at ball1 CBO03 from MGSyn User Manual 11 k Hierarchy
10. ative ex ecutable On the Windows platform we recommend Microsoft Visual C 2010 Express or Professional On the Linux platform we recommend GCC 3 http www cmake org cmake resources software html latest http www activestate com activeperl downloads 5 http www microsoft com visualstudio en us products 2010 editions express 12 C H Cheng and M Geisinger TO1_FESTOGarching2color xmi platform resource MGSynTestcase src metamodel T01_FESTOGarching2color xmi System Model TUMGarching Hardware Model Formal Model at wp1 CB03 from Property 1 Drill and sort by color error facing or rack full then return Property 2 Refine from 1 such that the workpiece is only drilled when it is red if white then omit Predicate in robot Predicate at Predicate free hand Predicate carry Predicate occupied Predicate belt connected E Problems Javadoc Declaration E Console i Properties 23 Property Malus Activated false Change it to true Avoidance Condition i Description 2 Refine from 1 such that the workpiece is only drilled when it is red if whit Main Specification and Type REACHABILITY Fig 8 Change the specification Step 1 Installation and Setup Step 1 1 Installing the Interpreter Simulator Source Code Down load the Interpreter package from our website file folder MGSyn supplementary files and extract it to
11. d cost bound and degree of parallelization compare step 8 the solver may report that your specification is feasible i e a strategy is generated or infeasible a strategy containing an error message is generated 18 C H Cheng and M Geisinger i CAWorkingCopies embedded verification interpreter build target Debug MGSyn exe bebaos ACTION belt move b balli1 CB 3 from CBO3 to gt a ACTION robot move lt RAS L 8 RAS L Y gt ACTION lever pushthalli CB 3 to RP i a gt ACTION plate rotate balli RP i e RP i f RP i a RP i b RP i c RP 1 d gt 4 ACTION trigger probe sensor balli RP 1i b gt face obj down 1 face obj up gt Enter sensor reading for triggerHeightProbeSensor 1 ACTION plate rotate balli RP 1 e RP 1i f RP i a RP 1 b RP i c RP 1 d gt m ACTION plate rotate balli RP i e RP 1 f RP i a RP i b RP i c RP 1 d gt ACTION lever pushthalli RP i d CB L from gt ACTION belt move hb balli CB 1 from CB 2 from gt ACTION belt move b lt lballi CB 2 from CB 2 to gt 1 ACTION lever push balli CB 2 to RAS 1 Y gt 2 ACTION trigger color sensor balli RAS 1 Y robot color obj white 1 color obj red 2 tcolor obj white tcolor obj red 3 fcolor obj white tcolor obj red gt Enter sensor reading for triggerColorSensor 1 43 ACTION robot move RASG1 Y RASG 1 L1B gt ha ACTION robot check sh
12. de of costs requires a large game transition graph and slows down the solver A Quantitative Property needs to be selected and activated e g System Model Formal Model right click New Child gt Specification Quan titative Property In the Properties view adapt the following fields e Activated Change to true and make sure that all other properties have their Activated value set to false e Cost Bound Define an according cost bound for your goal e Main Specification Define the goal in PDDL You might want to copy one from an existing property e Parallel Composition Here you can select the operator that is used to determine the total cost when two or more actions are performed si multaneously compare step 8 Since our interpretation of cost in this example is power consumption the cost of simultaneous execution of multiple actions will be the sum of the cost of the individual actions Hence choose SUM e Sequential Composition Here you can select the operator that is used to determine the total cost when two or more actions are performed sequentially Since our interpretation of cost in this example is power consumption the cost of sequential execution of multiple actions will be the maximum of the cost of the individual actions Hence choose MAX e Type Set the value to REACHABILITY_BOUNDEDCOST otherwise the solver will ignore the cost model You may now run synthesis on your model Depending on the selecte
13. del node You will see a list of the following types of nodes Properties Properties specify reachability conditions for the solver The formal specification is contained in the Main Specification property Mul tiple properties can be defined in a single model The Active property determines which of them are used at any point in time Quantitative Properties These are special properties that you can use to define cost bounds that must not be exceeded when the solver searches for a suitable winning strategy for a given goal Predicates Predicates specify the states of the automation system for mally and are used to model transition between system states They are referred to from within the preconditions and effects of actuations sensor triggerings and sensor responses Types and Objects These nodes define a number of basic data types and member entities for usage in model For example the facetype type is defined to be an enumeration of the entities up and down 5 Open the Topological Model node You will see a list of nodes of type Position Overlapping Each node references a pair of positions that are considered to be topologically identical i e they represent the same position in the real world Step 3 Synthesizing High level Control and Viewing the Intermediate Synthesis Model Select any model in the project e g TO1_FESTOGarching2color xmi right click to trigger popup menu Select Verification MGSyn Au
14. e in robot from but it will be in to in robot to e A sequence of parametrized Hardware Actions that get executed when the actuation is triggered The names used here are defined by the manufacturer of the respective hardware module the actua tion belongs to For example the robot move actuation has its hard ware actions set to minislide false rotary to R linear to L minis lide true which refers to the manufacturer defined commands minis lide linear and rotary that control the pneumatic minislide the linear as well as the rotary axis of the robot arm The values after the sign are the parameters passed to the commands The placeholder to R means that the value is to be taken from hardware parameter R of the position passed in the to parameter of the actuation For example as mentioned above position RASO1 X of the robot arm set the R parameter to RR OUT which is the name of the output position for the robot s rotary axis Sensor Triggerings A sensor triggering is similar to an actuation It models the last turn of the Controller before Environment s turn starts It has the following additional type of node e A number of Sensor Response Conditions When a sensor returns a value it is matched against each condition in order As soon as one condition matches the effects of that condition are applied to the environment model and all remaining conditions ignored For in stance the trigger color sensor sensor t
15. ece color obj white A color obj red The value 2 should never occur since it would correspond to a black work piece However since the user might puts black work pieces into the rack we handle that case anyway and treat it as if the rack is occupied rack occupied room yes but do not return any color value for it color obj white A color obj red MGSyn User Manual 19 4 Potential Problems and Fixes In the following we list potential problems during installation and their corre sponding fixes When an user wants to build the project from source he she might encounter problems due to some inrecognizable texts The fix is to change the Eclipse textual encoding the default encoding may be dependent to the operating system such as Chinese version Windows 7 Right click on the project select Properties gt Resources Then change the encoding from inherent from default to ISO 8859 1 This ensures that contents of the template can be viewed correctly In the model description currently it is assumed that all parameters of a successfully invoked action will be different It is thus the responsibility of the designer to ensure this in design When actions are planned to be executed in parallel MGSyn creates additional constructs to specify that parameters from two control actions should not be the same There is no such a constraint when MGSyn composes two environment actions Currently MGSyn does
16. elf RAS 1 L1B robot rack occupied room yes 1 rack occupied room yes 2 rack occupied room yes 3 rack occupied room nol gt Enter sensor reading for triggerColorSensor 1 ACTION robot move lt RAS I L1B RAS 1 L1A gt 6 ACTION robot check shelf RAS 1 L1A robot rack occupied room yes 1 L rack occupied room yes 2 rack occupied room yes 3 rack occupied room nol gt Enter sensor reading for triggerColorSensor 3 robot moveCRAS 1 L1A RAS 1 Y gt robot pick ground balli RAS 1 robot robot moveCRAS 1 RAS 1 L1IA gt vobot drop shelf balli RAS i L1iA robot 2 Cno actions 3 Cno actions xecution has finished Press any key to exit Fig 14 Example simulation trace an upward facing red work piece is input while the first position on the rack is occupied by a red work piece The user who acts as player Environment has specified four sensor inputs to the controller The first input answers the question whether the work piece under inspection is faced up or down Choosing an input of 0 implies it being faced downwards face obj down which a choice of 1 implies it being faced upwards face obj up The three following queries are all related to the color sensor where a value of 0 obviously corresponds to a white work piece color obj white a value of 1 to a red work piece color obj red and a value of 3 corresponds to no work pi
17. elization and works as follows Before calling 16 C H Cheng and M Geisinger Solution Explorer f3 2 E lod Solution MGSyn 9 projects Hl ALL_BUILD El communication RA controller I controller_festomps Ril easycom_com il easycom_exception W ecu set as start up project Z MGSyn fai External Dependencies a amp Source Files main cpp as txt Global Scope Finalize communication channels delete comsiemens_logo_proxy delete comfesto_fec_storage delete comfesto_fec_processing std system pause p add this line to observe the result Error List CE A 0 Warnings Li 0 Messages resolve formatting problem on 91 error C4335 Mac file format detected please convert Fig 12 Set as StartUp project and fix inconsistent line endings the solver to find a suitable strategy composed actions are generated from atomic ones by combining the preconditions and effects of the respective actions and adding some constraints The solver then treats the composed action as if it was an atomic one Higher degrees of parallelization can be achieved by combining more than two actions respectively To use parallelization select the respective degree from the Parallalization menu in the MGSyn parameters dialog box compare Figure 6 Step 8 Synthesis with Performance Guarantees We will now perform quantitative synthesis that is we will restrict the possible
18. i build properties Fig 9 Package Explorer view after creating architecture mapping Step 3 Configuring the Interpreter Code The following steps are not yet integrated into an automatic process This will change in future versions of MGSyn Rename the generated new_file_mapping txt file to main cpp and copy it into the directory where the interpreter source code is located replacing the existing main cpp file Copy the generated new_file_strategy txt file to the directory where you have just copied the main cpp file to possibly overwriting the existing file of the same name Run the script translate pl located in the directory where the interpreter source code is located On the Windows platform you probably only have to double click on the file if you have ActivePerl installed The same applies to Linux If you want to run it from a Linux command line navigate to the interpreter directory and run perl translate pl Step 4 Configuring the Build System Create Visual C 2010 solution using CMake Open CMake In the Where is the source code field select the interpreter folder created in Step 1 Inthe Where to build the binaries field select the same folder and append build If it does not exist CMake later will create it automatically 14 C H Cheng and M Geisinger Click on Configure A popup window will ask you to select the target plat form Based on the C compiler
19. l 24V line that is high when the pneumatic cylinder is fully extended For being able to generate the control code automatically including the communication protocol to the ECUs the concrete input output channel channels need to be represented within the model If the system programmed decides to change the wiring be C H Cheng and M Geisinger tween ECU and actuator or sensors this is usually the only set of parameters that needs to be adapted Actuations An actuation specifies an atomic action of a device They di rectly correspond to the moves of player Control in the game Actuations are characterized by the following properties e A number of parameters to parameterize the actuation The param eters must be defined in a way so that all formal entities that are influenced by the actuation are actually part of the parameter set For example the robot pick ground actuation that picks an object from a specific position using a certain robot arm has three param eters namely obj object room position and gripper robot arm e A number of formal preconditions that must be asserted before the actuation can be executed For example to execute the actuation robot move from to the robot first has to be at position from in robot from e A number of formal effects that will be true after the actuation has been executed For example after execution of actuation robot move from to the robot will not be in from any mor
20. le located in the Eclipse installation directory with a text editor 2 Modify the line that starts with Xmx to read Xmx1024m or Xmx1536m it should be the last line in the file For the Eclipse EMF 64 bit version please set up the memory to be at least Xmx2500m such that the BDD engine is able to be initialized and to synthesize the controller 3 Save and close the file You should now be able to run Eclipse by running eclipse exe Windows or eclipse Linux from within the Eclipse installation directory Step 1 5 Installing required Plug ins This step is only required if you downloaded Eclipse directly from the Eclipse website This is because the down load from the Eclipse website does not include the Xpand package which is required for code generation Follow these steps to install the plug in manually 1 Within Eclipse select the Eclipse icon see Figure 1 A list of EMF compo nents to install will appear 2 Select the Xpand package from the Model To Text category compare Fig ure 2 and click on Finish 3 Follow the instructions on the screen You should restart the Eclipse IDE before continuing Java Eclipse oe vV File Edit Source Refactor Navigate Search Project Dix BvrOvar Gr amp Package Explorer Install Modeling Components zili il Fig 1 Select Install Modeling Components Step 1 6 Installing MGSyn 1 Download the MGSyn Eclipse plugin from the website file folder MGSyn re
21. lease It should be named org fortiss tool mgsyn DATE zip 2 Extract the archive You should now have a plugin file called org fortiss tool mgsyn_VERSION jar Copy the plugin file to the plugins subfolder of your Eclipse installation 4 Restart or start Eclipse oe Step 2 Inspecting an Example Project Step 2 1 Importing an Example Project 4 C H Cheng and M Geisinger Eclipse Modeling Components Discovery e Pick a modeling component to install it EA Find Incubation Model To Text Model to Text also known as code generation tools and languages l Acceleo by Eclipse org EPL Acceleo is a standard based template language focused on usability and pragmatism i Wet by Eclipse org EPL JET is an Eclipse based code generator framework based on JSP Mii gt lt Xpand by Eclipse org EPL Xpand is an efficient code generation framework with a statically typed template language and support for arbitrary input model types Model To Model Model to Model tools and transformation languages E at by Eclipse org EPL ATL is a model transformation language and toolkit including an ATL transformation engine and an IDE for ATL K Gon Fig 2 Select Xpand and click on Finish 1 Download the sample project MGSynTestCase from the website file folder MGSyn supplementary files It should be named MGSynTestCase_DATE zip 2 Extract the archive to a location of your choice
22. n Environment Sa Game based Synthesis within Model driven Development This wizard performs model concertization synthesis and executable code generation based on the selected choices General Transformation Output Analysis Synthesize strategy in high level control format v Parallelization None z El Allow SenTrig SenTrig T Allocate more memories for BDD 64 bit only Fig 6 Options for synthesis This specification is encoded in Planning Domain Definition Language PDDL Listing 1 1 shows and excerpt from the specification Now we try to refine the specification The object should only be drilled when it is of red color If it is white then just store it on the rack Note that since the color sensor is located at the robot arm and the work pieces are initially at the same position the winning strategy first has to move the work piece to the robot arm to detect its color and only then it can be decided whether or not the object should be drilled If the color is red then it has to be moved back to the drill and then again back to the storage You might agree that it would take some time to manually modify the control programs of the hardware modules to perform this task With MGSyn this can be achieved very quickly Open the model right click the model and select Open with Sample Reflective Ecore Model Editor and expand it similar to Figure 8 In the Form
23. riggering might return a value between 0 and 3 corresponding to the colors white red black and none no work piece detected respectively Sensor Response Con ditions of sort 0 color obj white 1 color obj red and 3 gt color obj white A color obj red are defined accordingly in the TO1_FESTOGarching2color xmi example model MGSyn User Manual 7 Sensor Responses Sensor responses model turns of player Enviroment A move by Environment is always followed by at least one move of Con troller Sensor responses have the same structure as actuations ECUs and ECU Types An ECU specifies a controller module that is attached to a number of hardware modules It has the following proper ties e The communication address specifies parameters for communicating with the ECU The address depends on the type of communication channel see below For a UDP IP or TCP IP connection this is the IP address and the port e The communication channel specifies the name of the C class in the underlying communication library that performs the communi cation e g UdpCommunication for UDP IP e The ECU type references the type of ECU This information is used to select an appropriate communication protocol that is implemented as a C class in the base software layer ECU types An ECU type defines the name of the C in the underlying communication library that implement the protocol to talk to the ECU 4 Open the Formal Mo
24. s gt Specify native compilers Specify toolchain file for cross compiling i Specify options for cross compiling i Cancel Fig 11 Project settings for CMake on the Windows platform problem Figure 13 save all changes and select Debug gt Start Debugging again You should now see the interactive simulator running In Figure 14 we can see a typical execution trace for the project TO1_FESTOGarching2color xmi See the descriptions on at the bottom of the figure for explanations Step 6 Execution on Real Hardware If you create your own models you might want to switch between execution on the real hardware and in the simulator Switching between these two modes is done by a single preprocessor define Open the CMakeLists txt file that is located in the interpreter folder with a text editor Scroll down to the following line set_property TARGET NAME APPEND PROPERTY COMPILE_DEFINITIONS NO_ACTUATION This line is enabled by default Comment out the line by adding a character at the beginning of the line to enable execution on the real hardware or simulation in CIROS Studio Remove the comment character to enable console based simulation mode i e the operator can trigger the control moves of the environment Step 7 Synthesis with Parallelization MGSyn allows to generate control strategies which trigger multiple actuions si multaneously This is called parall
25. s consist of three parts namely a Hardware Model a Formal Model and a Topological Model See below for a detailed description 1 3 Dependencies The following libraries are explicitly included in MGSyn JDD BDD package for symbolic manipulation of sets of Boolean variables PDDL4J Front end parser library for Planning Domain Definition Language PDDL 2 C H Cheng and M Geisinger 2 A Quick Walkthrough of MGSyn In the following we provide a walkthrough to demonstrate the features of MGSyn from models to executable code starting from download and installation In Sec tion 3 we give instructions how to translate the synthesized strategy to C C program Although generating and compiling executable code is optional we highly recommend to try it out MGSyn also generates an interactive simula tor that enables users to run their synthesized execution strategies without the real hardware and is even able to communicate with professional 3D simulation environments such as CIROS Studio 2 Step 1 Installation and Setup Step 1 1 Downloading and installing Java If not yet installed download and install Java from http www java com download Java is required to run Eclipse If you have a 64 bit based operating system you might want to run the 64 bit version of Java which allows to use more system memory for memory intensive game solving scenarios However notice that we do not yet provide a pre configured Eclipse version
26. the example project MGSyn Testcase Devices Nodes of type Robot Arm Storage Conveyor Belt Lever and Rotation Plate are devices Devices represent hardware modules in the automation line A device is characterized by the following properties e A number of topological positions i e locations where work pieces can be put In the model positions are represented by sub nodes of the respective device Positions can also contain Hardware Pa rameters which is a list of keys and values For example position RASO1 X of Robot Arm Storage RASO1 defines the parameter set R RR_OUT L RL_LEVEL3_MOVE which is specified by the manu facturer of to robot arm The hardware parameters map actuations to concrete machine commands and will be referred to from the as sociated actuations see below e A number of input output channels i e physical wires between an Electronic Control Unit ECU and the device In the model in put output channels are represented by properties of the respective device To see them open the Properties view right click on a de vice and choose Show Properties View from the popup menu All properties whose name starts with Js are digital input channels those whose name starts with Set are digital output channels For example an output channel can be a digital 24 V line leading from a Programmable Logic Controller PLC to a pneumatic valve that attached to a pneumatic cylinder An input channel might be a dig ita
27. tomatic game based synthesis Figure 5 Then in the MGSyn configuration window Figure 6 choose the following options 8 C H Cheng and M Geisinger CB03 CB04 Processing CB01 CB02 Storage Secs Work pieces Fig 4 Abstract model for synthesis Compare With gt Replace With Verification l a MGSyn Automatic game based synthesis WikiText Lae Properties Alt Enter Fig 5 Invocation of MGSyn from the popup menu of a suitable xmi model file On the General Transformation tab select Synthesize strategy in high level control format On the Output tab set the File header name to Result_T01 Leave the other options as is Click on Finish It takes a few seconds to calculate the strategy in intermediate form When the execution finishes refresh the project select the project MGSynTestcase from the Package Explorer and press F5 Three files will appear in the model folder compare Figure 7 Result_T01_strategy txt automatically synthesized strategy Result_T01_domain pddl interfaces for components Result_T01_problem pdd1 topology initial condition specification Step 4 Changing the Specification and Resynthesis In Step 3 the desired specification is as follows When the work piece is facing up drill and store it based on the color If it is facing down or the rack is full then return it to the user MGSyn User Manual 9 MGSyn Design Synthesis Codege
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