Specification Techniques and Formal Specifications System models are abstract descriptions of systems whose requirements are being analysed Objectives To explain why specification modelling techniques help discover problems in system requirements To describe – Behavioural modelling (FSM, Petri-nets), – Data modelling and – Object modelling (Unified Modeling Language, UML) Formal Specification - Techniques for the unambiguous specification of software Objectives: To explain why formal specification techniques help discover problems in system requirements To describe the use of – algebraic techniques (for interface specification) and – model-based techniques(for behavioural specification) System modelling System modelling helps the analyst to understand the functionality of the system and models are used to communicate with customers Different models present the system from different perspectives – External perspective showing the system’s context or environment – Behavioural perspective showing the behaviour of the system – Structural perspective showing the system or data architecture System models weaknesses They do not model non-functional system requirements They do not usually include information about whether a method is appropriate for a given problem They may produce too much documentation The system models are sometimes too detailed and difficult for users to understand Model types Data processing model showing how the data is processed at different stages Composition model showing how entities are composed of other entities Architectural model showing principal sub-systems Classification model showing how entities have common characteristics Stimulus/response model showing the system’s reaction to events 1. Context models Context models are used to illustrate the boundaries of a system Social and organisational concerns may affect the decision on where to position system boundaries Architectural models show the a system and its relationship with other systems The context of an ATM system Security system Branch accounting system Account database Auto-teller system Branch counter system Usage database Maintenance system Process models Process models show the overall process and the processes that are supported by the system Data flow models may be used to show the processes and the flow of information from one process to another Equipment procurement process Delivery note Specify equipment requir ed Equipment spec. Validate specification Equipment spec. Supplier database Checked spec. Supplier list Find suppliers Accept delivery of equipment Get cost estimates Spec. + supplier + estima te Choose supplier Order notification Order details + Blank order form Place equipment order Checked and signed order form Delivery note Check delivered items Installation instructions Install equipment Installation acceptance Accept delivered equipment Equipment details Equipment database Semantic data models Used to describe the logical structure of data processed by the system Entity-relation-attribute model sets out the entities in the system, the relationships between these entities and the entity attributes Widely used in database design. Can readily be implemented using relational databases No specific notation provided in the UML but objects and associations can be used Software design semantic model Design 1 name description C-date M-date is-a has-nodes 1 has-links 1 n n 1 Node has-links 1 name type 2 Link n 1 links 1 name type 1 has-labels has-labels Label n name text icon n Data dictionary entries Data dictionaries are lists of all of the names used in the system models. Descriptions of the entities, relationships and attributes are also included Name Description 1:N relation between entities of type Node or has-labels Link and entities of type Label. Holds structured or unstructured information Label about nodes or links. Labels are represented by an icon (which can be a transparent box) and associated text. A 1:1 relation between design entities Link represented as nodes. Links are typed and may be named. Each label has a name which identifies the type name (label) of label. The name must be unique within the set of label types used in a design. Each node has a name which must be unique name (node) within a design. The name may be up to 64 characters long. Type Date Relation 5.10.1998 Entity 8.12.1998 Relation 8.12.1998 Attribute 8.12.1998 Attribute 15.11.1998 Object models Object models describe the system in terms of object classes An object class is an abstraction over a set of objects with common attributes and the services (operations) provided by each object Various object models may be produced – Inheritance models – Aggregation models – Interaction models Object models Natural ways of reflecting the real-world entities manipulated by the system More abstract entities are more difficult to model using this approach Object class identification is recognised as a difficult process requiring a deep understanding of the application domain Object classes reflecting domain entities are reusable across systems The Unified Modeling Language Devised by the developers of widely used objectoriented analysis and design methods Has become an effective standard for object-oriented modelling Notation – Object classes are rectangles with the name at the top, attributes in the middle section and operations in the bottom section – Relationships between object classes (known as associations) are shown as lines linking objects – Inheritance is referred to as generalisation and is shown ‘upwards’ rather than ‘downwards’ in a hierarchy Behavioural models Behavioural models are used to describe the overall behaviour of a system Two types of behavioural model – Data processing models that show how data is processed as it moves through the system – State machine models that show the systems response to events Both of these models are required for a description of the system’s behaviour Data Flow Diagrams Data flow diagrams are used to model the system’s data processing These show the processing steps as data flows through a system IMPORTANT part of many analysis methods Simple and intuitive notation that customers can understand Show end-to-end processing of data Order processing DFD Or der details + blank order form Signed order form Completed order form Complete order form Valida te order Signed order form Send to supplier Record order Order details Signed order form Checked and signed order + order notification Adjust available budget Order amount + account details Orders file Budget file Data flow diagrams DFDs model the system from a functional perspective Tracking and documenting how the data associated with a process is helpful to develop an overall understanding of the system Data flow diagrams may also be used in showing the data exchange between a system and other systems in its environment State machine models State Machine models the behaviour of the system in response to external and internal events They show the system’s responses to stimuli so are often used for modelling real-time systems State machine models show system states as nodes and events as arcs between these nodes. When an event occurs, the system moves from one state to another Statecharts are an integral part of the UML Microwave oven model Full power Timer Waiting do: display time Half power State machine model does not show flow of data within the system Full power do: set power = 600 Number Full power Half power Door closed Timer Door open Half power do: set power = 300 Operation do: operate oven Set time do: get number exit: set time Door closed Disabled do: display 'Waiting' Cancel Start Enabled do: display 'Ready' Door open Waiting do: display time Microwave oven stimuli Stimulus Half power Full power Timer Number Door open Door closed Start Cancel Description The user has pressed the half power button The user has pressed the full power button The user has pressed one of the timer buttons The user has pressed a numeric key The oven door switch is not closed The oven door switch is closed The user has pressed the start button The user has pressed the cancel button Finite state machines Finite State Machines (FSM), also known as Finite State Automata (FSA) are models of the behaviours of a system or a complex object, with a limited number of defined conditions or modes, where mode transitions change with circumstance. Finite state machines - Definition A model of computation consisting of – – – – a set of states, a start state, an input alphabet, and a transition function that maps input symbols and current states to a next state Computation begins in the start state with an input string. It changes to new states depending on the transition function. – – – states define behaviour and may produce actions state transitions are movement from one state to another rules or conditions must be met to allow a state – input events are either externally or internally generated, transition which may possibly trigger rules and lead to state transitions Variants of FSMs There are many variants, for instance, – machines having actions (outputs) associated with transitions (Mealy machine) or states (Moore machine), – multiple start states, – transitions conditioned on no input symbol (a null) or more than one transition for a given symbol and state (nondeterministic finite state machine), – one or more states designated as accepting states (recognizer), etc. Finite State Machines with Output (Mealy and Moore Machines) Finite automata are like computers in that they receive input and process the input by changing states. The only output that we have seen finite automata produce so far is a yes/no at the end of processing. We will now look at two models of finite automata that produce more output than a yes/no. Moore machine Basically a Moore machine is just a FA with two extras. 1. It has TWO alphabets, an input and output alphabet. 2. It has an output letter associated with each state. The machine writes the appropriate output letter as it enters each state. This machine might be considered as a "counting" machine. The output produced by the machine contains a 1 for each occurrence of the substring aab found in the input string. Mealy machine Mealy Machines are exactly as powerful as Moore machines – (we can implement any Mealy machine using a Moore machine, and vice versa). However, Mealy machines move the output function from the state to the transition. This turns out to be easier to deal with in practice, making Mealy machines more practical. A Mealy machine produces output on a transition instead of on entry into a state. Transitions are labelled i/o where – i is a character in the input alphabet and – o is a character in the output alphabet. The following Mealy machine takes the one's complement of its binary input. In other words, it flips each digit from a 0 to a 1 or from a 1 to a 0. Mealy machine are complete in the sense that there is a transition for each character in the input alphabet leaving every state. There are no accept states in a Mealy machine because it is not a language recogniser, it is an output producer. Its output will be the same length as its input. Statecharts Allow the decomposition of a model into sub-models (see a figure) A brief description of the actions is included following the ‘do’ in each state Can be complemented by tables describing the states and the Operation stimuli Time Checking do: check status Turntable fault Cook do: run generator OK Emitter fault Timeout Done do: buzzer on for 5 secs. Alarm do: display event Door open Disabled Cancel Waiting Petri Nets Model Petri Nets were developed originally by Carl Adam Petri, and were the subject of his dissertation in 1962. Since then, Petri Nets and their concepts have been extended, developed, and applied in a variety of areas. While the mathematical properties of Petri Nets are interesting and useful, the beginner will find that a good approach is to learn to model systems by constructing them graphically. The Basics A Petri Net is a collection of directed arcs connecting places and transitions. Places may hold tokens. The state or marking of a net is its assignment of tokens to places. Place P2 Place with token P1 Arc with capacity 1 T1 Transition Capacity Arcs have capacity 1 by default; if other than 1, the capacity is marked on the arc. Places have infinite capacity by default. Transitions have no capacity, and cannot store tokens at all. Arcs can only connect places to transitions and vice versa. A few other features and considerations will be added as we need them. The classical Petri net model A Petri net is a network composed of places ( ) and transitions ( ). t2 t1 p2 p1 t3 p4 p3 Connections are directed and between a place and a transition. Tokens ( ) are the dynamic objects. The state of a Petri net is determined by the distribution of tokens over the places. p1 p4 t1 p2 p3 Transition t1 has three input places (p1, p2 and p3) and two output places (p3 and p4). Place p3 is both an input and an output place of t1. Enabling condition Transitions are the active components and places and tokens are passive. A transition is enabled if each of the input places contains tokens. t1 t2 Transition t1 is not enabled, transition t2 is enabled. Firing An enabled transition may fire. Firing corresponds to consuming tokens from the input places and producing tokens for the output places. t2 Firing is atomic. t2 Example Non-determinism t1 t2 Two transitions fight for the same token: conflict. Even if there are two tokens, there is still a conflict. A collection of primitive structures that occur in real systems High-level Petri nets The classical Petri net was invented by Carl Adam Petri in 1962. Since then a lot of research has been conducted (>10,000 publications). Since the 80-ties the practical use is increasing because of the introduction of high-level Petri nets and the availability of many tools. High-level Petri nets are Petri nets extended with – color (for the modeling of attributes) – time (for performance analysis) – hierarchy (for the structuring of models, DFD's) Modeling States of a process are modeled by tokens in places and state transitions leading from one state to another are modeled by transitions. Tokens represent objects (humans, goods, machines), information, conditions or states of objects. Places represent buffers, channels, geographical locations, conditions or states. Transitions represent events, transformations or transportations. Example: traffic light red yr yellow rg gy green Two traffic lights red1 red2 yr1 yr2 yellow1 rg1 gy1 yellow2 rg2 gy2 green1 green2 Two safe traffic lights red1 red2 safe yr1 yr2 yellow1 rg1 gy1 yellow2 rg2 gy2 green1 green2 Two safe and fair traffic lights red1 red2 safe2 yr1 yr2 yellow1 rg1 yellow2 gy1 rg2 gy2 safe1 green1 green2 Some definitions current state The configuration of tokens over the places. reachable state A state reachable form the current state by firing a sequence of enabled transitions. dead state A state where no transition is enabled. br red black rr bb (3,2) br rr red black bb\br (1,3) (3,1) rr br bb\br rr bb (1,2) (3,0) rr bb\br (1,1) br (1,0) 7 reachable states, 1 dead state. Exercise: your life-cycle sleeping start stop active die dead How many states are reachable? Is there a dead state? EC Exercise: readers and writers begin receive_mail mail_box rest rest type_mail send_mail read_mail ready How many states are reachable? Are there any dead states? How to model the situation with 2 writers and 3 readers? How to model a "bounded mailbox" (buffer size =4)? High-level Petri nets In practice the classical Petri net is not very useful: The Petri net becomes too large and too complex. It takes too much time to model a given situation. It is not possible to handle time and data. Therefore, we use high-level Petri nets, i.e. Petri nets extended with: color time hierarchy To explain the three extensions we use the following example of a hairdresser's hairdresser ready to begin saloon. free client waiting start waiting finish busy ready Note how easy it is to model the situation with multiple hairdressers. The extension with color A token often represents an object having all kinds of attributes. Therefore, each token has a value (color) with refers to specific features of the object modeled by the token. name: Sally age: 28 hairtype: BL free start waiting name: Harry age: 28 experience: 2 finish busy ready Each transition has an (in)formal specification which specifies: the number of tokens to be produced, the values of these tokens, and (optionally) a precondition. The complexity is divided over the network and the values of tokens. This results in a compact, manageable and natural process description. Examples c := a+b a b := -a + b a - b c a >=0 | b := a a b select if a> 0 then b:= a else c:=a fi a sqrt b c Extra Credit Exercise: calculate |a+b| using these buiding blocks The extension with time For performance analysis we need to model durations, delays, etc. Therefore, each token has a timestamp and transitions determine the delay of a produced token. free 3 0 9 D=0 1 start waiting D=0 finish D=3 busy ready The extension with hierarchy A mechanism to structure complex Petri nets comparable to DFD's. A subnet is a net composed out of places, transitions and subnets. h1 h2 waiting ready h3 free start busy finish Exercise: remove hierarchy h1 h2 waiting ready h3 free begin start busy pending end finish begin pending end Key points Modeling specification complements informal requirements elicitation techniques. Model specifications can be precise and unambiguous, but generally depend on interpretation of inputs/output. They reduce areas of doubt in a specification More formal models, such as FSM or Petri nets forces an analysis of the system requirements at an early stage. Correcting errors at this stage is cheaper than modifying a system during design Formal methods Formal specification is part of a more general collection of techniques that are known as ‘formal methods’ These are all based on mathematical representation and analysis of software Formal methods include – – – – Formal specification Specification analysis and proof Transformational development Program verification Acceptance of formal methods Formal methods have not become mainstream software development techniques as was once predicted – Other software engineering techniques have been successful at increasing system quality. Hence the need for formal methods has been reduced – Market changes have made time-to-market rather than software with a low error count the key factor. Formal methods do not reduce time to market – The scope of formal methods is limited. They are not wellsuited to specifying and analysing user interfaces and user interaction – Formal methods are hard to scale up to large systems Use of formal methods Their principal benefits are in reducing the number of errors in systems so their main area of applicability is critical systems: – – – – Air traffic control information systems, Railway signalling systems Spacecraft systems Medical control systems In this area, the use of formal methods is most likely to be cost-effective Formal methods have limited practical applicability Specification in the software process Specification and design are inextricably mixed. Architectural design is essential to structure a specification. Formal specifications are expressed in a mathematical notation with precisely defined vocabulary, syntax and semantics. Specification and design Increasing contractor involvement Decreasin g client involvement Requir ements definition Requir ements specification Architectur al design Software specification Specification Design High-level design Specification in the software process Requirements specification Formal specification Requirements definition High-le vel design System modelling Ar chitectural design Specification techniques Algebraic approach – The system is specified in terms of its operations and their relationships Model-based approach – The system is specified in terms of a state model that is constructed using mathematical constructs such as sets and sequences. – Operations are defined by modifications to the system’s state Formal specification languages Algebraic Model-based Sequential Larch (Guttag, Horning et al., 1985; Guttag, Horning et al., 1993), OBJ (Futatsugi, Goguen et al., 1985) Z (Spivey, 1992) VDM (Jones, 1980) B (Wordsworth, 1996) Concurrent Lotos (Bolognesi and Brinksma, 1987), CSP (Hoare, 1985) Petri Nets (Peterson, 1981) Z (“zed”) Notation Formal specification language – most successful one -> easy to find faults, can prove correctness Requires set theory, functions, & discrete math – also difficult to learn because of special symbols Z specifications consists of 4 sections – given sets, data types, and constants • sets that get defined in detail – state definition • variable declarations & predicates that constrain values – initial state – operations Use of formal specification Formal specification involves investing more effort in the early phases of software development This reduces requirements errors as it forces a detailed analysis of the requirements Incompleteness and inconsistencies can be discovered and resolved !!! Hence, savings as made as the amount of rework due to requirements problems is reduced Development costs with formal specification Cost Validation Design and Implementation Validation Design and Implementation Specification Specification Without formal specification With formal specification 1. Interface specification Large systems are decomposed into subsystems with well-defined interfaces between these subsystems Specification of subsystem interfaces allows independent development of the different subsystems Interfaces may be defined as abstract data types or object classes The algebraic approach to formal specification is particularly well-suited to interface specification Sub-system interfaces Interface objects Sub-system A Sub-system B The structure of an algebraic specification < SPECIFICATION NAME > (Gener ic Parameter) sort < name > imports < LIST OF SPECIFICATION NAMES > Informal descr iption of the sor t and its operations introduction description Operation signatures setting out the names and the types of the parameters to the operations defined over the sort signature Axioms defining the operations over the sort axioms Specification in Z Scenario: We maintain a membership list and an associated phone database. [Person, Phone] |----PhoneDB----------------------------------|members: P Person (‘set of’ person) |phones : Person Phone (relation) |------------------------------------------------------|dom phones ⊆ members (invariant) |--------------------------------------------------- Z Operation: Assign a Phone Scenario: Someone would like a phone. (Note: Missing precondition) |----Assign----------------------------------| p? : Person; n? : Phone | D PhoneDB |------------------------------------------------------| phone’ = phone union { p? n? } | members’ = members |--------------------------------------------------- Example members {jim, sue} phones {(jim, 1231), (sue, 3956)} Assign(alice, 1231) Cool Z property: Can calculate minimal preconditions!! Simple analysis: leave out preconditions and find minimum constraint to maintain invariants! Behavioural specification Algebraic specification can be cumbersome when the object operations are not independent of the object state Model-based specification exposes the system state and defines the operations in terms of changes to that state Abstract State Machine Language (AsmL) AsmL is a language for modelling the structure and behaviour of digital systems AsmL can be used to faithfully capture the abstract structure and step-wise behaviour of any discrete systems, including very complex ones such as: Integrated circuits, software components, and devices that combine both hardware and software Abstract State An AsmL model is said to be abstract because it encodes only those aspects of the system’s structure that affect the behaviour being modelled The goal is to use the minimum amount of detail that accurately reproduces (or predicts) the behaviour of the system Abstraction helps us reduce complex problems into manageable units and prevents us from getting lost in a sea of details AsmL provides a variety of features that allow you to describe the relevant state of a system in a very economical, high-level way Abstract State Machine and Turing Machine An abstract state machine is a particular kind of mathematical machine, like the Turing machine (TM) But unlike a TM, ASMs may be defined a very high level of abstraction An easy way to understand ASMs is to see them as defining a succession of states that may follow an initial state State transitions The behaviour of a machine (its run) can always be depicted as a sequence of states linked by state transitions paint in green A paint in red B • Moving from state A to state B is a state transition Configurations Each state is a particular “configuration” of the machine The state may be simple or it may be very large, with complex structure But no matter how complex the state might be, each step of the machine’s operation can be seen as a well-defined transition from one particular state to another Evolution of state variables We can view any machine’s state as a dictionary of (Name, Value) pairs, called state variables paint in green A paint in red B (Colour, Red) is a variable, where “Colour” is the name of variable, “Red” is the value Evolution of state variables Names are given by the machine’s symbolic vocabulary Values are fixed elements, like numbers and strings of characters The run of a machine is a series of states and state transitions that results form applying operations to each state in succession Example Diagram shows the run of a machine that models how orders might Initialise Process All Orders be processed S1 S2 S3 Mode = “Initial” Mode = “Active” Mode = “Final” Orders = 0 Orders = 2 Orders = 0 Balance = $0 Balance = $200 Balance = $500 Each transition operation: • can be seen as the result of invoking the machine’s control logic on the current state • calculates the subsequence state as output Control Logic The machine’s control logic behaves like a fix set of transition rules that say how state may evolve Typical form of the operational text is: “ if condition then update ” We can think of the control logic as a text that precisely specifies, for any given state, what the values of the machine’s variables will be in the following step Control Logic as a Black Box • The machine control logic is a black box that takes as input a state dictionary S1 and gives as output a new dictionary S2 mode “Initial” orders 0 balance $0 input The Machine’s Control output Logic … Mode “Active” if mode = “Initial” orders 2 balance $200 then mode := “Active” The two dictionaries S1 and S2 have the same set of keys, but the values associated with each variable name may differ between S1 and S2 Run of the Machine The run of the machine can be seen as what happens when the control logic is applied to each state in turn The run starts form initial state S1 S2 S 3 … S1 is given to the black box yielding S2, processing S2 results in S3, and so on … When no more changes to state are possible, the run is complete Update operations We use the symbol “: =” (reads as “gets”) to indicate the value that a name will have in the resulting state For example: mode:=“Active” Update can be seen only during the following step (this is in contrast to Java, C, Pascal, …) All changes happen simultaneously, when you moving from one step to another. Then, all updates happen at once.(atomic transaction) Programs Example 1. Hello, world Main() step WriteLine(“hello, world!”) ASML uses indentations to denote block structure, and blocks can be places inside other blocks Statement block affect the scope of variables Whitespace includes blanks and new-line character, ASML does not recognize tab character for indentation !!!!!!! An operation names run() gives the top-level operational definition of the model (Main() is like main() in Java and C ) Example 2. Reading a file var F as File? = undef var Fcontents as String = “” var Mode as String = “Initial” Main() step until fixpoint if Mode = “Initial” then F :=open(“mfile.txt”) Mode :=“Reading” if Mode = “Reading” and length(FContents) =0 then FContents :=fread (F,1) if Mode = “Reading” and length(FContents) =1 then FContents := FContents + fread (F,1) if Mode = “Reading” and length(FContents) >1 then WriteLine (FContents) Mode :=“Finished” Example 2. Graph representation Step 1 Step 2 S1 S2 S3 F= undef F= <open file 1> F= <open file 1> Fcontents =“” Fcontents =“” Fcontents =“a” Mode = Initial Mode = Reading Mode = Reading Step 3 S4 S5 F= undef F= <open file 1> Fcontents =“ab” Fcontents =“ab” Mode = Reading Step 4 Mode = Finished Step5 Key points Formal system specification complements informal specification and modeling techniques Formal specifications are precise and unambiguous. They remove areas of doubt in a specification, but still depend on interpretation of terms, inputs and outputs. Formal specification forces an very details analysis of the system requirements at an early stage. Correcting errors at this stage is cheaper. Key points Formal specification techniques are most applicable in the development of critical systems and standards. Algebraic techniques are suited to interface specification where the interface is defined as a set of object classes Model-based techniques model the system using sets and functions. This simplifies some types of behavioural specification Its not for the faint of heart, you’ll need some special training to go down this path.