SIMULATION OF SOFTWARE REQUIREMENT IN BEHAVIOUR TREE USING ABS

SIMULATION OF SOFTWARE REQUIREMENT IN BEHAVIOUR TREE USING ABS Emerson Chan Simbolon 0806334773 FakultasIlmuKomputer

Table of Contents • Introduction • Related Works • Frameworks • Foundation Theory • Behavior Tree • ABS • Translation Scheme • Experiment • Result and analysis • Conclusion and Future Works

Background What client need What client describe Programmer AA Bb CDd E AaaaBbbBbCccccDdddd AaaaBbBBb CcDdBCd Consistency? Ambiguity? Correctness? What programmer code

Background (cont) What client need What client describe SOFTWARE METHODOLOGIES Programmer AA Bb CDd E AaaaBbbBbCccccDdddd AaaaBbbBbCcccCDdddd Consistency? Ambiguity? Correctness? What programmer code

Background (cont) What client need What client describe BEHAVIOR TREE Programmer AA Bb CDd E AaaaBbbBbCccccDdddd AA Bb CDd E Consistency? Ambiguity? Correctness? What programmer code

Motivation • From design to code • UML ? (e.g. http://www.altova.com/umodel/uml-code-generation.html) • BT -> Model Checked

Related Works • Formal Method Lab research • SAL Model Checker • Animation of BT Simulation • Behavior Tree for Next AI Design

Tools • Eclipse (IDE) • TextBE (Eclipse plugin) • ABS Plugin (Eclipse plugin)

Foundation Theory • Behavior Tree • ABS • Translation Scheme

Behavior Tree

State • C[s] -> … • A treatment of a component, so states means a set of treatments that component could realize • Kind of State: • Enumeration {Cold, Hot, Warm} • Assignment (x:=2, t:=Hot) • Action (put what Food where (to) Oven) • Statement ([{}], in SetNotation that statement means an empty Set), a statement needs formal representation

Selection • C ?condition? -> … | … | … • Reflect as “If” block in programming language • A branch will be executed if satisfied the condition (if more than one satisfied, than it will choose one branch un-deterministically) • If none of branch satisfied, than terminated

Event • C??e?? (similar with “C > e <“) • Reflects as “input” request in programming language (approach) • Will execute sub tree below, if C meets the event e, block if not

Guard • C ??? s ??? -> … • Reflect as “While” block in programming language • A branch will be executed if component C realize state ‘s’ • Block the sub tree below

Parallel branch • C-> (…|…|…) • Reflects as multi process in programming language • Each sub tree run concurrently and un-deterministically • Needs scheduling (or apparent on the BT design)

Atomic Composition • Commonly, a node is not atomic, so process between one node to next may be executed asynchronously • C;;D ; … • Set of State realization that should be executed simultaneously

Reversion • N* ^ • Reflects “Go-to” statement in programming language, as N as the label of destination PC • Ancestor node N*, N, will be executed, terminate sibling process

Synchronization • N* = • Reflects “suspend” statement in programming language, as N as the label of destination PC, N located in sibling process • A node in sibling process, N, will be executed, block next statement, until it awaken • Scheduling point to prevent starvation

Behavior Tree in TextBE • Define all possibility state and event • Define tree structure #RT R1 R1 #C C1 DOOR #S 1 Closed #C C2 USER #E 1 Push #R What C3 #C C3 BUTTON #S 1 Pushed #C C4 POWER-TUBE #S 1 Energised #C C5 OVEN #S 1 Cooking[OneMinute] #T R1 C1 1; R1 C2 1; R1 C3 1; R1 C4 1; R1 C5 1

Bounded-Buffer Problem 1. Given one buffer with size N, one producer, one consumer 2. Producer put data to buffer until M times 3. Consumer take data from buffer until M times 4. Producer put data as long as buffer not full 5. Consumer take data as long as buffer not empty

BT Representation • Shown

ABS

What is ABS? • Stands for Abstract Behavioral Specication • Developed by HATS (http://www.hats-project.eu) in 2009

ABS as Modeling Language • Compatible with UML • Formal & Executable • Not only modeling implementation of features, but also feature space and dependencies among them • Have language concepts to represent model evolution due to changing requirements • Used to fill the gap between structural modeling language and implementation-close formalisms

What make ABS powerful? • Have 5 language-concepts that supports it to fit the needs of modeling large complex system

Core ABS • Object-based modeling language • Not support code reuse via class-based inheritance (it’s supported by those other four languages) • Support user-defined data type with (non-higher-order) functions and pattern matching • Contains non-deterministic constructs, which is not executable (like modeling oven or train schedule) with its outcome is set of possible successor states from which one can be picked in simulation and visualization

ABS Specification • Data types • Object Based Programming • Concurrency model

Built-in Data Types • Unit value, Unit • Logical values, equality (==), unequality (!=), negation (~), logical and (&&), and logical or (||) • Numbers, ((-5+6)*4)/(2%1) • Character Sequences, "Hello" + "World“

Algebraic Data Types Syntax: DataTypeDecl ::= data TypeId [TypeParams] [= DataConstrList] ; TypeParams ::= < TypeId (, TypeId) > DataConstrList ::= DataConstr (| DataConstr) DataConstr ::= TypeId [( [TypeList] )] Ex: data Fruit = Apple | Banana | Cherry; data Juice = Pure(Fruit) | Mixed(Juice, Juice); Mixed(Pure(Cherry),Pure(Banana))

Parametric data type, data List<T> = Nil | Cons(T, List<T>); • Type Synonyms type Catalog = Map<String, Product>; • Functions def A head<A>(List<A> list) = ... • Pattern Matching def A head<A>(List<A> list) = case list { Cons(h, _) => h }

Object-Based Programming • Interface Syntax: InterfaceDecl ::= interface TypeId [extends TypeName (, TypeName)] { MethSig } MethSig ::= Type Identifier ( [ParamList] ) ; ParamList ::= Param (, Param) Param ::= Type Identifier Ex: interface Empty { Unit doNothing(); }

Class Syntax: ClassDecl ::= class TypeId [( ParamList )] [implements TypeName (, TypeName)] { [FieldDeclList] [Block] [MethDeclList] } FieldDeclList ::= FieldDecl (, FieldDecl) FieldDecl ::= TypeId Identifier [= PureExp] ; MethDeclList ::= MethDecl (, MethDecl) MethDecl ::= Type Identifier ( ParamList ) Block Ex: class IEmpty implements Empty { Unit doNothing() { skip; } Unit thisIsPrivate() { skip; } }

Module Model in ABS, represented by .abs file • Statement: • assignments, (xx = yy) • conditional statements, (if xx then yy, case xx) • loops (while xx), • expression (new xx), • return, • basic statement (skip, await, suspend, assert).

Concurrency Model • Concurrency Object Groups (COG) Pong pong = new cog IPong(); • Asynchronous Method Calls pong ! hi("Hello Pong"); • Future Fut<String> answerFut = pong ! hi("Hello Pong"); String answer = answerFut.get; • Cooperative Multi-Tasking Fut<String> answerFut = ping ! hi("Hello Ping"); skip; // do some processing ... await answerFut?; String answer = answerFut.get; // guaranteed not to block

What is ABS? • Stands to Abstract Behavioral Specication • Developed by HATS (http://www.hats-project.eu) in 2009