Formal Modeling and Verification of Embedded Real-Time Systems: An Approach and Practical Tool Based on Constraint Time Petri Nets

Modeling and verification of the correct behavior of embedded real-time systems with strict timing constraints is a well-known and important problem. Failing to fulfill a deadline in system operation can have severe consequences in the practical case. This paper proposes an approach to formal modeling and schedulability analysis. A novel extension of Petri Nets named Constraint Time Petri Nets (C-TPN) is developed, which enables the modeling of a collection of interdependent real-time tasks whose execution is constrained by the use of priority and shared resources like processors and memory data. A C-TPN model is reduced to a network of Timed Automata in the context of the popular Uppaal toolbox. Both functional and, most importantly, temporal properties can be assessed by exhaustive model checking and/or statistical model checking based on simulations. This paper first describes and motivates the proposed C-TPN modeling language and its formal semantics. Then, a Uppaal translation is shown. Finally, three models of embedded real-time systems are considered, and their properties are thoroughly verified.