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RAPIER Final Report

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(1)  . Z<[,\]_^ `. ESPRIT Project #25646 Rapid Prototyping Environment for Real-Time Distributed Systems. D1.9 Final Report (Publishable Version) 64004f1. Report Editor: Gail Hall TRW Automotive 21 February 2000. THIS DOCUMENT IS NON-MAINTAINED UNLESS IDENTIFIED AS A CONTROL COPY DEFINED BY THE CIRCULATION LIST ON PAGE TWO. TRW Automotive. Matra BAe Dynamics France SA. Kennedy Carter Ltd. IT-Innovation Centre DaimlerChrysler AG. Integrated Systems Inc Ltd. Prover Technology AB.   !#"%$'& (!*) +, - .'/0.'+213(45$'!6& 879+2 :;7< =;>;?A@AB;@;/CD+E F7<GH2- I - +8 - D1J7<.KL+:;+1M:AN N - I 6:;,O21QPRQ1'79.'+.',+22.',1 0:;+HSG'.'G',QJ 0 2:;+T 2:;' CT- 79D- -  ,.'G'G'N - 1K:;+21KF.',+J 37<G'- 1U- +CT2N #G':; /561- ,79N ,1 F LQCT-  'J.G'- J CD-   L+79J+,+'6 %!6"%$& (!8) J+',J - .VP<"%+2H7<G'HS  - 6179.'L+F:;1 H%:;+HSL J1F.',:;N ,S79+2 :;- +T:379G'H - #N I+1QPW8!#"%$& (!K) +R - .'X>AYAY;Y.

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(3) óTôõDö ÷3ógøùú;ûú. Table of Contents. 1 Introduction. 5. 2 Technical Report for Publication. 6. 2.1 Project Objectives. 6. 2.2 Project Activities and Achievements. 7. 3 Conclusions and Recommendations. kmln o p,qrSsutuvRwArSsuxM'y;v5t_z{T|. }~ €‚,ƒ%~g„z2{Tv5z#yA,t q†ˆ‡‰‰‰. 10. üŠz#‹ýþ.

(4) ÿ 3ÿ . Abbreviations .    "!$#$%&!$' ( !$)*%&+, - !.+/+#$0 12%2!$#$%2( +!. 3 . 34 1252!$+,0 +768)*52!$+. 9  %2!$52521;:<!$ %&=. >%2  5&?,+, A@. 9CBD9. 9  %2!.: + 4 %2!$E B 68)*%2!$) 9  #GFH%2E. 9CIKJ9    L 4 %212 . 9CIKJ9    L 4 %212 !$ %2+!. @. @!$  !$EM6= 4 +,%;!$+FH%2E. N  I  9POQ. > E !$525212 : 4  EER!$L !$52 S !$ %&%2  5&?,+,  9CBD9. N  3T. NU4 %2+ 4 WV ! 3 68 4 12#$) T + 4  #.!. NUBT =F. NU4 R6 B  +,%2!$E T 12+,)*%&+,ER!$+/FHR: 12#. .  "!$#$%&+,12!$ %2!$E 4 5X68)*12).  BY @. S !$ B 86 )*%2!$) 4  EZ%20R!$12+[ +,+,!$)*S   E 12R: 9  %;!$+,? 4 #$!$)? +[( %2  %212L ! Y 52!$#$%2+,  21 #$)]\^ _8`2`$a$bdc eMf*g2a$hji b klkRa$m*a$blf*n$o b p2g2g2f*g2a$q2q2a$blrsi mtk p2a u q2a$n$g2m*v b 2p w[p2h>xm*y`$g `$y o m*z*a$i {M|$}. ~Y  IsB. + %20 ! 4  4 5X68)*12)*‚L 4 25 12E 4 %212  I   52)?, € ) 68)*%2!$)†V T ,+   I ,+ 1 J,~4 #$12?,12#‡)* ,? %2ˆ 4 +,!. ~I. ~ +, L $! + I !$#$0 R 52 :R6. BNU‰Š. B 0 5 4 !$+ J,N !$5252 +*‹ ‰ )*!$+ Š +, ( S. I  BN Œ. Ž[1212 :W 4 5;68)*12)?,R+ 0 5 4 !$+ JP‘ !.5252 +/+! 4 5 J %212!WS S 5212# 4 %2128’W). I “. I “”( %2  %212L !. ‰N F. ‰  12?,12!$E N  E !$525212 :F 4 R:<( 4 :<!. 4  Eƒ!$L 4 52( 4 %212 t +„+! 4 5 J %212!. •R–˜—<™ šœ›;"ž Ÿ ›œ™ ™ ¡D¢ £&š;¤‡¥H¥ §¦ ›;¨ — ¡ © ¡ ™ ¡ ª« kmln o p,qrSsutuvRwArSsuxM'y;v5t_z{T|. }~ €‚,ƒ%~g„z2{Tv5z#yA,t q†ˆ‡‰‰‰. Šz#‹  .

(5) ¬­®¯ °R¬± ² ³´ ³. 1 Introduction ¸s¹ 2º »½¼,¾$¿ À ¼,Á  ¾$»*Ã.¼,º2Ä ¾$»½Á2¹ Ø Ù Ú Û Ú ÜÞÝ ¸s¹ ¾§¿ ¼,À Ó"¾.Ã$Áߺ2È Ç À ì ¹ ¼í8»*à2¾$¼Ô éÜ,èDî Å$Á2¼,ÅðïϾ ¸s¾$Ã$¹ È À à2ÀRâRíòÔ,Ö Ü,è ÑC¸KëÑCÈ È ÏÊ Á2À ËÀ Á2º2Ç ¾ Ý. ¾ÆÅ.Ã$Á2º2Ç º2Á2º2¾$»€Å$È ÂÉÀ Ê Á2Ã$À ˾$»€À ÌÍÁ2¹ ¾ÆÎÏÐDÑCÒsÎdм,À Ó"¾$Ã$ÁÕÔ,ÒsÖÐÎ×ÑC¸ à2Ç ¾$»Á2¹ ¾§Ì,À à2à2À áº2È âZ¿RÅ$¼,Á2È ¾.¼,»†ã/¸sÎäåÏÊ Á2À ËÀ Á2º2Ç ¾ Ô,æç Ü,èêé Å$º2Ëà2¾$¼,ë é í8È Å$˺2Ã$»Gñ¼,Å$ÈRÃ$¾Ôñ Ü,è ç=¾$È È ¾$ÂMí ì Å.¼,Á2¾$¼ßÔæç Ü,è ÑCÖDÑÔ,æç Ü,è м,À ÇR¾$¼ À Ç Å$Á2º2À È ì ¾$È Á2¼,¾óÔ,æç ÜÞÝ ¸s¹ ¾ôÃ$ÀRë,À ¼, º2È Å$Á2º2ÈRâd¿ Å$¼,Á2ÈR¾$¼õº2»t¸sÎä. ¸s¹ ¾öÎÏÐDÑPÒsÎ÷¿ ¼,À Ӝ¾$Ã$ÁÄ ¾.â<Å.È>º2È>øÃ$Á2À Ä ¾$¼Íù ú ú ûüáº2Á2¹>Åý¿ à2Å$È È ¾$Â> ÊR¼,Å$Á2º2À È>À Ì Ø Û ËÀ È Á2¹ » è »*Ê Ä »*¾$þ Ê ¾$È Á2à;íW¾$ÿRÁ2¾$È Â ¾$ÂÁ2À Ø û Ý Ù ËÀ È Á2¹ » Ý ¸s¹ ¾ ¿ ¼,º2È Ã$º2¿ Å$àÀ Ä Ó"¾.Ã$Á2º2Ç ¾$»À Ì[Á2¹ ¾ ÎÏÐDÑCÒsÎA¿ ¼,À Ó"¾$Ã$Áá=¾$¼,¾ Á2À‚¿R¼,À Â Ê Ã$¾ ŧ¿ ¼,À Á2À ÁXí8¿ ¾§º2È Á2¾.â<¼Å$Á2¾$ Á2À À à2»*¾$ÁÌ,À ¼HÁ2¹ ¾ü¼,¾$þ Ê º2¼¾$˾$È Á2»Å$È Å$àXí8»*º2» è  ¾$»*º;â<È è Ç Å$à2º2 Å$Á2º2À ÈÅ$È Â Å$Ê Á2À ËÅ$Á2º2ú2Ë¿ à2¾$˾$È Á2Å$Á2º2À ÈÀ Ì ¼,¾$Å$à2ë,Á2º2˾¾$ËÄ ¾$ ÂR¾$ »Þ톻*Á;¾$Ë» Á2À ¾$È Å$Ä à2¾¾$È Â ë,ÊR» ¾$¼,»WÁ2À Ã$À ¿ ¾ áº2Á2¹ º2È Ã$¼,¾.Å$»*º2È â Ã$À Ë¿ à2¾$ÿRº2Á;í ÀRÌ Å$¿ ¿ à2º2Ã$Å$Á2º2À È » è º2È Ã$¼,¾.Å$»*¾$Â Ç Å.¼,º2Å$Ä º2à2º2Á;í º2È ¹ Å$¼,ÂRáÅ$¼¾AÅ$¼Ã$¹ º2Á2¾$Ã$Á2Ê ¼¾$»üÅ$È Â ¿ ¼¾$»*»*Ê ¼,¾ Á2À ¼,¾.Â Ê Ã$¾  ¾$Ç ¾$à2À ¿ ˾$È Á&Á2º2˾$» Ý ¸s¹ ¾>¿ Å$¼,Á2È ¾.¼,» Á2ÀAÁ2¹ ¾>¿ ¼,À Ó"¾$Ã$Á ¼,¾$¿ ¼¾$»*¾$È Á Ä À Á2¹ Á2¹ ¾üÅ$Ê Á2À ËÀ Á2º2Ç ¾üÅ$È Â Å.¾$¼,À »*¿ Å.Ã$¾üº2È Â Ê »*Á2¼,º2¾$» è º2È Ã$à2Ê Â º2È â »*Ê ¿ ¿ à2º2¾$¼,»üÅ$È Â ¾$È Â ë,Ê »*¾$¼,» Ý ¸sÀ À àÍÇ ¾$È Â ÀR¼,»ÆÅ$È Â Á2¹ ¾ÉÅ$Ã$Å$ÂR¾$˺2à áÀ ¼,à2Â]Å$¼,¾ Å$à2»*À á¾$à2à2ë,¼,¾$¿ ¼¾$»*¾$È Á2¾$Â Ý ¸s¹ º2»»*¿ ¼,¾.Å$ÂZÀ Ì[¿RÅ$¼,Á2È ¾$¼,»á=Å$»»*¾$à2¾.Ã$Á2¾$ÂZÁ2À‚â<º2Ç ¾ ËÅ$ÿRº2ËÊ Ë÷¿ À Á2¾$È Á2º2Å$àÌ,À ¼‡Å »*Ê Ã$Ã$¾$»*»*Ì,Ê à/À Ê Á2Ã$À ˾WÁ2¹RÅ$Á/Ã$À Ê à2Â Ä ¾W¾$ÿR¿ à2À º2Á2¾$ Å$ÁÁ2¹ ¾¾$È Â§À ̍Á2¹ ¾¿R¼,À Ó"¾$Ã$Á Ý ¸s¹ ¾áÀ ¼  º2 ¾$È Á2º2Ì,º2¾$ áº2Á2¹ º2ÈZÁ2¹ ¾§¿ ¼,À Ó"¾$Ã$ÁßáÅ$»»*¿ à2º2Áߺ2È Á2À‚Á2¾$ȂáÀ ¼  ¿ Å$à  Å.â<¾$»Á2À‚á¹ º2Ã$¹‚Á2¹ ¾§¿RÅ$¼,Á2È ¾.¼,»Ã$À È Á2¼,º2Ä Ê Á2¾$‚Á2À Å$Ã$Ã$À ¼, º2ÈRâWÁ2ÀÁ2¹ ¾$º2¼¾$ÿR¿ ¾$¼,Á2º2»*¾ Ý. kmln o p,qrSsutuvRwArSsuxM'y;v5t_z{T|. }~ €‚,ƒ%~g„z2{Tv5z#yA,t q†ˆ‡‰‰‰. µŠz#‹ ¶ ·.

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(10) ÎUÏqÐ Ñ Ò(ÎCÓÔHÕÖÕ. 3 Conclusions and Recommendations ÙÚÛÜÝ Þßà áâ Ý ÚãCßÜÝ ãä@ÜåæçÝ áà Ý ÜæèCèæÜÝ:ä+ãCâ ÚÚà ܶáà à Úé!æèwâ êæKèæÜÝ:ä+ã(æëܶâ ÚwßÜæKâ êæKìæÜâ â ÚÚà íÚë æáçêèÚÞáÝ ãî<åëÚïÝ èÝ ã(äwïáà Ý èáâ Ý ÚãçXáåáìÝ à Ý â Ý æÜíÚëâ êæ!Úï(æëáà àUáååà Ý çXáâ Ý Úã]Ý ã]á.çà ÚÜæèÛà ÚÚå æãïÝ ëÚãÞæãâkðyÙÚÛÜÝ Þßà áâ Ý ÚãbåæëÞÝ â â æèbíßãçâ Ý Úãáà.ïáà Ý èáâ Ý Úãbâ Úbâ áñæPåà áçXæPåëÝ Úëâ Úbáãò Ý Þåà æÞæãâ áâ Ý Úãî_é!Ý â êQóô!õUöPôa÷ÇßÜæèQâ ÚQÝ ãèÝ çáâ æ€áãòOâ Ý ÞÝ ãäQÝ ÜÜßæÜðUóêÝ ÜçÚÛÜÝ Þßà áâ Ý Úã åëÚïÝ èæÜaá=ëæXíæëæãçXæ=íÚë6ÜßìÜæøßæãâ<ïáà Ý èáâ Ý Úã@áÜaâ êæ=è(æïæà ÚåÞæãâ<åëÚçXææèÜð óêæ@ô!æëÚÜå(áçæ@è(æÞÚãÜâ ëáâ ÚëDíÚßãèLâ ê(áâJáßâ ÚÞáâ Ý çáà à8òEä+æã(æëáâ æè€çÚèæCåëÚïÝ èæXèLæù(çæà à æãâ â ëáçæXáìÝ à Ý â:ò@ìæâ é.ææãwÞÚèæà ܶáãèçÚèæðXú%ãâ:æëæÜâ Ý ã(ä+à òCÝ â é.áܶíÚßãèwâ êáâ çÚè(æ!Úåâ Ý ÞÝ Üáâ Ý ÚãÝ Ü ëæà áâ æèCâ ÚCâ êæ7ÞÚèæà à Ý ã(ä@çêÚÝ çXæÜDÞáèæîâ êßÜ¶Ý â Ý Ü¶Ý ÞåÚëâ áãâ íÚëJâ êæKèæÜÝ:ä+ãæëJâ ÚçÚãÜÝ èæëJâ êæ åæëíÚëÞáã(çæ7ëæøßÝ ëæè@Ý ã@â êæ7æáëà8ò.Üâ áXäæÜDÚíqÞÚèæà à Ý ã(ä#ðüûbêÝ à Üâvâ êæ7çÚèæ7äæãæëáâ Ý ÚãCé.áÜDãÚâ ÜßííÝ çÝ æãâ à:ò^è(æïæà ÚåæèOèßëÝ ã(äYâ êæEåëÚHýkæXçâDâ ÚOåæëÞÝ âDÝ â ÜCßÜæLíÚëKåëÚèßçâ Ý ÚãQçÚèæ€íÚëKêÝ:ä+ê ïÚà ßÞæeÞáãßíáçâ ßëæèÍáååà Ý çáâ Ý ÚãÜîÝ âEÝ ÜMÜßÝ â áìà æ/íÚëYíßã(çâ Ý ÚãáàEïáà Ý èáâ Ý ÚãîíæáÜÝ ìÝ à Ý â:ò Üâ ßèÝ æÜcëæøßÝ ëÝ ãä]ëáåÝ è]ëæÜßà â ÜîvèæÞÚãÜâ ëáâ ÚëÜcáãè]Úâ êæë_áååà Ý çáâ Ý ÚãÜcé!êÝ çê`èÚ`ãÚâ6ëæøßÝ ëæ íßà à:ò.Úåâ Ý ÞÝ Üæè@çÚèæðþ ßëâ êæXëqÚåâ Ý ÞÝ Üáâ Ý ÚãÜDêáïæ7ìææãCÝ èæãâ Ý íÝ æèwé!êÝ çêCÝ âvé!áÜDãÚâvåÚÜÜÝ ìà æ â ÚOÝ Þåà æÞæãâDèßëÝ ãäYâ êæLåëÚHýkæXçâ¶Ý â Üæà íKìßâ¶é!êÝ çêQãæïæXëâ êæà æÜÜwçÚãâ Ý ãßæLâ ÚQìæLè(æïæà Úåæè Úßâ ÜÝ èæ=â êÝ ÜaåëÚä+ëáÞÞæð óÝ ÞÝ ãä*ô!ãáà8òZÜÝ ÜNÚã¿â êæBáæXëÚÜåáçXæBèæÞÚãÜâ ëáâ Ú(ëQÜêÚé!æèìæã(æíÝ â ÜxÝ ãÚìâ áÝ ãÝ ãäæáëà8ò Úïæëáà à æÜâ Ý Þáâ æܶÚíJâ êæ!èò+ã(áÞÝ:ç!ìæêáïÝ Úß(ëÚíâ êæ!áååà Ý çXáâ Ý Úã6ðXóêÝ ÜåëÚïÝ èæÜáãÝ ÞåÚëâ áãâ Ý ãåßâ!â Úxâ êæQçÚãÜÝ èæëæèxÜæà æXçâ Ý ÚãbÚíáãbáXëçêÝ â æçâ ßëæPÜÝ ãçæPâ ëáèæÛÚííÜgìæâ é.ææãbçXÚÜâ.áãè åæëíÚëÞáã(çæ=ì(æçÚÞæ=ÞÚëæ=Ý ãíÚëÞæè6ð óêæ^áßâ ÚÞÚâ Ý ïæ^èæÞÚãÜâ ëáâ ÚëåëÚïÝ è(æè-áãMÚååÚëâ ßãÝ â8òRâ ÚMßÜæYèÚÞáÝ ãMåáëâ Ý â Ý ÚãÝ ãäMáÜEá ìáÜÝ ÜLíÚëCèÝ Üâ ëÝ ìßâ æèxèæïæà ÚåÞæãâkðÿ!ÚÞáÝ ã܀é.æëæPáà à Úçáâ æèxâ Úxÿ!áÝ Þà æXëÙêëlòZÜà æëwáã(èxâ Ú. . ó û. ô!ßâ ÚÞÚâ Ý ïæ.íÚëyèæïæà ÚåÞæãâ6åëÝ Úë_â Ú`Ý ãâ æäëáâ Ý Úã6ðóêÝ Ü=ÜêÚé!æè`â êáâ6Ý â6Ý Ü=åÚÜÜÝ ìà æâ Ú. ßÜæ@èæïæà ÚåÞæãâqâ æáÞÜ7à ÚçXáâ æèEÝ ãEèÝ ííæXëæãâqà ÚçXáâ Ý ÚãÜîUìßâqâ êáâqä+ëæXáâJçáXëæCÝ ÜKãæXæèæèLÝ ãLâ êæ èæíÝ ãÝ â Ý Úã@Úí6â êæÜæ=èÚÞáÝ ãÜaáâ<â êæ=Üâ áëâ<Úíqá=åëÚHýkæXçâkð óêæÍåëÚHýkæçâYè(æïæà Úåæè. á*çÚêæXëæãâOåëÚçXæÜÜ|èæíÝ ãÝ â Ý Úã2áãè2â ÚÚñ2áXççÚßãâOÚíMÚã(ä+ÚÝ ã(ä. Üâ áãèáëèÜèæï(æà ÚåÞæãâé!Úëñ6ðUô!à Úã(ä+ÜÝ èæ€â êægâ ÚÚàcèæïæà ÚåÞæãâ=áçâ Ý ïÝ â Ý æÜîDâ êÝ Ü]íÚëÞÜ]â êæ ìáÜÝ Ü¶íÚëJÚã(ä+ÚÝ ãäwé!Úëñé!Ý â êÝ ãâ êæ!ïáëÝ ÚßÜå(áëâ ãæëÜðXóê(æëæ.áëæ!áçâ Ý ïæ!åà áãÜâ Úâ áñ(æ!åáëâ ÜÚí â êæ!â ÚÚà ÜæâUíÚëé!áëèâ Úâ êæ!Þ]áëñæâ åà áXçæ!áãè]é!êÝ à ÜâUâ êæ!æãèÛßÜæëyåáXëâ ãæëÜcÞá òwãÚâ6áèÚåâ#â êæ åëÚçæÜÜ7Ý ãEÝ â Ü7æãâ Ý ëæâ8ò`Ý ãLâ êæCÜêÚëâ Ûâ æëÞî#â êæXëæCÝ ÜKÜßííÝ çÝ:æãâJÝ ãâ æëæÜâJÝ ãLåáëâ ÜKÚíDâ ê(æCåëÚçXæÜÜ áãè@â ÚÚà Üæâ<â Ú@çÚãÜÝ èæë6â êáâ<â êæ=åëÚHýkæXçâ<é!Ý à à<Ý ãíà ßæãçæ=íßâ ßëæ=é!á òZÜaÚ(í6é!ÚëñÝ ã(ä#ð. kmln o p,qrSsutuvRwArSsuxM'y;v5t_z{T|. }~ €‚,ƒ%~g„z2{Tv5z#yA,t q†ˆ‡‰‰‰. l‰ z#‹×HØ.

(11)

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